Goods handling module, goods handling control method, and warehouse
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- HAI ROBOTICS CO LTD
- Filing Date
- 2025-11-11
- Publication Date
- 2026-06-04
Smart Images
Figure CN2025134228_04062026_PF_FP_ABST
Abstract
Description
Cargo handling module, cargo handling control method and warehouse
[0001] This application claims priority to Chinese patent application No. 202411758418.9, filed on November 29, 2024, entitled "Cargo Handling Module, Cargo Handling Control Method and Warehouse", the entire contents of which are incorporated herein by reference. [Technical Field]
[0002] This application relates to the field of warehousing equipment technology, and in particular to a cargo handling module, a cargo handling control method, and a warehouse. [Background Technology]
[0003] With the increasing volume of goods and the growing demand for timely delivery, modern warehousing and logistics systems widely employ advanced automation technologies to improve the efficiency and accuracy of goods storage and retrieval. Many related automated devices (such as multi-level shuttle systems, stacker cranes, automated guided vehicles, and conveyor systems) are extensively used, combined with real-time monitoring and data acquisition through equipment interconnection, to achieve automated warehouses that efficiently handle the input and output of goods.
[0004] However, during the operation of these automated devices, malfunctions or abnormalities are inevitable, requiring corresponding maintenance. Maintenance typically necessitates stopping the use of some or all of the automated equipment, which can disrupt the operation of the automated warehouse and impact overall efficiency.
[0005] Therefore, there is a strong desire to minimize the impact of maintenance work on automated warehouses and reduce unnecessary disruptions. [Summary of the Invention]
[0006] This application aims to solve the problem of automated warehouse operation interruption caused by maintenance work on existing automated equipment.
[0007] In a first aspect, this application provides a cargo handling module. The cargo handling module includes: at least one guiding device for providing a preset operating track; at least one first cargo storage / retrieval device and at least one second cargo storage / retrieval device, the first and second cargo storage / retrieval devices being jointly disposed on one of the guiding devices and movable along the operating track; the operating track providing a corresponding operating area for each cargo storage / retrieval device; wherein the first or second cargo storage / retrieval device can operate in a first mode or a second mode; when both the first and second cargo storage / retrieval devices are operating in the first mode, the first or second cargo storage / retrieval device moves within its corresponding first operating area to perform a cargo handling task; when the second cargo storage / retrieval device is operating in the second mode, at least one first cargo storage / retrieval device is moved out of the operating track, and the second cargo storage / retrieval device moves within the second operating area to perform a cargo handling task.
[0008] Optionally, the cargo handling task includes a one-way cargo handling task or a two-way cargo handling task; when the first and second cargo storage and retrieval devices are in the first mode, the first and second cargo storage and retrieval devices perform a two-way cargo handling task in the corresponding first operating area; when the second cargo storage and retrieval device is in the second mode, the second cargo storage and retrieval device performs a one-way cargo handling task in the second operating area.
[0009] Optionally, it further includes at least one isolation device; the isolation device is removably arranged on the running track to form at least two first running sections; when the first cargo storage and retrieval device malfunctions, the first cargo storage and retrieval device is removed from the running track, and the corresponding isolation device is removed; the second cargo storage and retrieval device is switched to the second mode and moves in the second running section.
[0010] Optionally, it further includes: an activatable protection device; the protection device is located in a temporary storage area independent of the operating range; wherein, in response to an abnormality in the first cargo storage device, the abnormal first cargo storage device is removed from the operating track and placed in the temporary storage area via the activated protection device.
[0011] Optionally, the cargo handling task includes: a one-way cargo handling task or a two-way cargo handling task; when the first and second cargo storage devices are operating normally, the isolation device is set on the running track, the first and second cargo storage devices are in the first mode, and the first or second cargo storage device performs a two-way cargo handling task in its corresponding running section; when the first cargo storage device is in an abnormal state, the corresponding isolation device is removed, and when the second cargo storage device is in the second mode, the second cargo storage device performs a one-way cargo handling task in the second section.
[0012] Secondly, this application provides a cargo handling control method. This cargo handling control method is applied to the control terminal of a first or second cargo storage / retrieval device. The cargo storage / retrieval device is disposed within a cargo handling module, which includes: a guide device providing a preset running track; at least one first cargo storage / retrieval device and at least one second cargo storage / retrieval device, both disposed on the guide device and movable along the running track. The cargo handling control method includes: receiving a sorting instruction; when the first and second cargo storage / retrieval devices are in a first mode, controlling the first and second cargo storage / retrieval devices to move within corresponding first running intervals to perform cargo handling tasks; wherein the first mode is: the first and second cargo storage / retrieval devices operate within their respective corresponding first running intervals; when the second cargo storage / retrieval device is in a second mode, controlling the second cargo storage / retrieval device to move within a second interval to perform the cargo handling tasks; wherein the second mode is: the first cargo storage / retrieval device is moved out of the running track.
[0013] Optionally, the cargo handling task includes: a one-way cargo handling task or a two-way cargo handling task; the step of controlling the first and second cargo storage and retrieval devices to move within their respective first operating intervals to perform the cargo handling task specifically includes: when the first or second cargo storage and retrieval device is in the first mode, controlling the first or second cargo storage and retrieval device to perform a two-way cargo handling task within its corresponding first operating interval; when the second cargo handling device is in the second mode, controlling the second cargo storage and retrieval device to perform a one-way cargo handling task within the second operating interval.
[0014] Optionally, the cargo handling module further includes an isolation device removably arranged on the running track; when the second cargo storage and retrieval device is in the second mode, the corresponding isolation device is further removed; after the second cargo storage and retrieval device completes all assigned one-way cargo handling tasks, the method further includes: after the first cargo storage and retrieval device is moved back into the running track and the isolation device is reset on the running track, a new plurality of bidirectional cargo handling tasks are assigned to the first and second target cargo storage and retrieval devices; the first or second cargo storage and retrieval device moves within the corresponding first running interval to perform the assigned bidirectional cargo handling tasks.
[0015] Thirdly, this application provides a warehouse. The warehouse includes: a goods storage area; several rows of shelves arranged within the goods storage area, forming at least one aisle between two rows of shelves; a goods conveying area; the goods conveying area located at the edge of the goods storage area, and equipped with at least one goods transfer device to allow one or more goods to be output from or input into the goods storage area; a goods handling module as described above; one goods handling module provided in each aisle; and a control terminal; the control terminal is communicatively connected to each of the goods storage and retrieval devices; wherein the control terminal is configured to: control the goods storage and retrieval devices of the goods handling modules to perform corresponding goods handling tasks, thereby transferring one or more goods between the goods storage area and the goods conveying area.
[0016] Optionally, in response to the completion of a one-way cargo handling task within the second operating range and the abnormal first cargo storage and retrieval device returning to normal, the control terminal is configured to: control the first cargo storage and retrieval device and the second cargo storage and retrieval device to switch to a first mode to execute a two-way cargo handling task within the corresponding first operating range.
[0017] At least one advantage of the cargo handling module, cargo handling control method and warehouse provided in this application embodiment is that by configuring two different modes for the cargo storage and retrieval equipment, the maintenance work of the abnormal cargo storage and retrieval equipment can be switched as much as possible to minimize the interference to the overall operation when the cargo storage and retrieval equipment malfunctions, and the automated cargo handling process in the warehouse will not be interrupted. [Attached Image Description]
[0018] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.
[0019] Figure 1 is a schematic diagram of a typical automated warehouse;
[0020] Figure 2A is a schematic diagram of the cargo handling module provided in the embodiment of this application, showing the case where two cargo storage and retrieval devices are set up;
[0021] Figure 2B is a schematic diagram of the cargo handling module provided in the embodiment of this application, showing the scenario where three cargo storage and retrieval devices are set up;
[0022] Figure 3 is a schematic diagram of a cargo handling module provided in another embodiment of this application;
[0023] Figure 4 is a schematic diagram of the warehouse provided in an embodiment of this application;
[0024] Figure 5 is a flowchart of the cargo handling control method provided in an embodiment of this application;
[0025] Figure 6 is a flowchart of a cargo handling control method provided in another embodiment of this application;
[0026] Figure 7 is a functional block diagram of the cargo handling control device provided in the embodiment of this application;
[0027] Figure 8 is a schematic diagram of the control terminal provided in an embodiment of this application.
Detailed Implementation Methods
[0028] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "bottom," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0029] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.
[0030] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.
[0031] Figure 1 is a schematic diagram of a typical automated warehouse. As shown in Figure 1, this automated warehouse typically includes: a goods storage area 10, a goods conveying area 20, and a goods handling system 30.
[0032] The goods storage area 10 is used to store various types of goods. It can be arranged with multiple shelves 11 in a preset manner to provide sufficient storage space. Narrow aisles 12 are formed between the shelves 11. These aisles 12 provide a movable path for the goods handling system 30, enabling it to move to specific storage locations. A storage location can be a storage space pre-allocated by the system based on the size of the goods to be stored and the shelf information.
[0033] Specifically, the shelving 11 can be configured with appropriate height, width, and length according to actual needs, and form aisles 12 of corresponding size and shape in a specific arrangement. The specific implementation of the goods storage area 10 is not limited here. For example, Figure 1 shows shelving 11 arranged in a rectangular matrix. Each group of shelving consists of two or more shelving 11 connected end-to-end along the length direction, forming an aisle 12 between adjacent groups of shelving. The aisle 12 can accommodate and move goods loading and unloading devices.
[0034] The cargo transport area 20 is an area where one or more cargo transport devices are installed. These cargo transport devices work together to complete the transfer process of goods leaving the warehouse and external goods entering the warehouse.
[0035] Specifically, the cargo transport equipment may include sorting tables for sorting goods and conveyor lines for transferring goods. The specific use and arrangement of the equipment can be set according to actual needs, and no specific limitations are made here. For example, Figure 1 shows that each cargo transport area 20 may be provided with sorting tables 21 corresponding to the ports of the channel 12 and conveyor lines 22 connecting these sorting tables.
[0036] They can be arranged at the edge of the goods storage area 10 and provided in an appropriate number to meet the needs of actual conditions (e.g., the requirements for goods transfer efficiency). For example, Figure 1 shows a case in which two goods transport areas 20 are provided on the front and back sides of the rectangular goods storage area 10, respectively.
[0037] The cargo handling system 30 is a system used to move goods between the cargo storage area 10 and the cargo conveying area 20. Specifically, any suitable type of device or equipment can be selected according to actual needs, as long as it can achieve the orderly transfer of goods between the cargo storage area 10 and the cargo conveying area 20.
[0038] For example, it may include cargo storage and retrieval equipment that performs cargo handling operations and a control terminal. The control terminal receives data information from one or more sensor devices and, based on preset control logic, issues corresponding control commands to the cargo storage and retrieval equipment to control the cargo storage and retrieval equipment to perform cargo handling operations correctly and orderly, so that the goods can be transferred to the appropriate location in the expected manner.
[0039] For example, Figure 1 illustrates an automated handling system based on a goods storage and retrieval device 301 and a guide rail 302. The goods storage and retrieval device 301 performs goods handling operations, temporarily storing goods and moving its own position to achieve goods transport. The guide rail 302 can be installed on the shelves of the goods storage area 10 and is arranged along the aisle 12, serving to guide the goods storage and retrieval device 301.
[0040] Taking the example of a specific target product being moved to a target location on a shelf, in actual operation, as shown in Figure 1, the target product can be transported to the corresponding sorting table 21 via conveyor line 22, where it is retrieved. Correspondingly, under the control of the control terminal, the goods storage and retrieval device 301 moves to the location of the sorting table 21 and retrieves the target product.
[0041] After the goods storage and retrieval equipment 301 obtains the target goods, it moves to the corresponding target position by means of the guide rail 302 and places the goods on the target storage location of the shelf.
[0042] It can be understood that the process of removing target goods stored on shelves from the warehouse is the reverse process of moving the target goods to a target location on a shelf. For the sake of simplicity, this will not be repeated here.
[0043] In the prior art, if the cargo storage and retrieval device 301 in the cargo handling system 30 shown in Figure 1 malfunctions or malfunctions, the operation of the cargo handling system 30 needs to be temporarily interrupted to ensure the smooth progress of maintenance work. Subsequently, the operator enters the passage, moves the malfunctioning cargo storage and retrieval device 301 to the maintenance exit located at the end of the passage, and replaces the malfunctioning cargo storage and retrieval device 301 with a new one or repairs the malfunctioning cargo storage and retrieval device 301 before the cargo handling system 30 can be restarted.
[0044] The process of moving and replacing faulty goods storage and retrieval equipment 301 takes a considerable amount of time, especially when using equipment such as multi-level shuttles or stacker cranes, where the additional lifting and dismantling work is quite cumbersome. This unnecessarily prolongs the downtime of the goods handling system 30, seriously affecting the operational efficiency of the automated warehouse.
[0045] To address the issue of prolonged downtime during maintenance of the aforementioned cargo handling system 30, the applicant discovered that by installing removable isolation devices, the cargo storage and retrieval devices corresponding to each channel can operate in two different modes. Taking two cargo storage and retrieval devices per channel as an example, as shown in Figure 2A, when isolation devices 330 are installed in the channel, the channel can be physically divided into two first operating zones A1 (the first operating zone can be the operating zone corresponding to a single cargo storage and retrieval device). This allows the two normally operating cargo storage and retrieval devices 320 (exemplarily shown as the first cargo storage and retrieval device 320A and the second cargo storage and retrieval device 320B in Figure 2A) to move only within their respective first operating zones, operating in the first mode. When one of the cargo storage and retrieval devices malfunctions, taking the first cargo storage and retrieval device 320A as an example, after removing the isolation device 330 and moving the first cargo storage and retrieval device 320A out of the channel, the remaining second cargo storage and retrieval device 320B can cover the entire channel and move between the second operating intervals A2 (that is, it can operate in the second operating interval, which may include at least two first operating intervals), and is in another working mode (exemplarily represented as the second mode in Figure 2).
[0046] For example, as shown in Figure 2B, two isolation devices 330 are installed in the channel, which can physically divide the channel into three first operating intervals A1, thereby confining the three goods storage and retrieval devices (first goods storage and retrieval device 320A, second goods storage and retrieval device 320B, and third goods storage and retrieval device 320C) to move within their respective first operating intervals A1. When the first goods storage and retrieval device 320A malfunctions, it is removed from the channel, and one of its corresponding isolation devices 330 is also removed. This allows the second goods storage and retrieval device 320B, which is adjacent to the first goods storage and retrieval device 320A, to operate in the second operating interval A2 shown in the figure (which may include the first operating intervals corresponding to the two goods storage and retrieval devices), while the third goods storage and retrieval device 320C operates in its corresponding first operating interval A1.
[0047] By further and appropriately controlling the switching of cargo storage and retrieval equipment in different working modes, when abnormal or faulty cargo storage and retrieval equipment 320 occurs, it is possible to remove the abnormal or faulty cargo storage and retrieval equipment 320 from the channel, thereby isolating the faulty cargo storage and retrieval equipment. This will minimize the interruption time of the cargo handling system 30 during maintenance operations, or even eliminate the need to interrupt the operation of the cargo handling system 30.
[0048] The system can also function without isolation devices. When all cargo storage and retrieval devices are operating normally, i.e., in the first mode, the system configures a corresponding first operating zone for each cargo storage and retrieval device, and each device operates within its corresponding first operating zone. When a fault occurs in the first cargo storage and retrieval device, it needs to be removed from the track for repair, allowing the second cargo storage and retrieval device to operate in the second mode and within the second operating zone, thus enabling the entire operating track to function.
[0049] Based on the inventive concept provided in the embodiments of this application, it can be generally applied to a cargo handling system in which multiple cargo storage and retrieval devices share a single guiding device. However, for ease of description and understanding, a tunneling machine based on a guide rail will be used as an application scenario example to describe this application.
[0050] In some embodiments, the cargo handling system 30 described above includes the cargo handling module provided in the embodiments of this application, so as to have less downtime when the cargo storage and retrieval equipment fails. Alternatively, the cargo handling system 30 may also be entirely composed of the cargo handling module provided in the embodiments of this application.
[0051] Figure 2A is a schematic diagram of a cargo handling module provided in an embodiment of this application. The cargo handling module 300 includes: a guiding device, at least two cargo storage and retrieval devices 320 (a first cargo storage and retrieval device 320A and a second cargo storage and retrieval device 320B), and at least one isolation device 330.
[0052] The guiding device serves a guiding function to form a specific running track. For example, the guiding device can be a track guide rail installed and fixed on a shelf. Since the function and purpose of the guiding device is to provide and form the required specific running track, for ease of explanation and demonstration, the guiding device is illustrated in the accompanying drawings of this application using the running track 310 formed by the guiding device as an example, without limiting the specific structural implementation of the guiding device.
[0053] In this application, the "running track" can be set according to actual needs. For example, as shown in Figure 2A, the running track is a straight line adapted to the aisle so that the movement range of the goods storage and retrieval equipment 320 can cover all the shelves located on both sides of the aisle.
[0054] The cargo storage and retrieval equipment 320 refers to a device that works in conjunction with guiding equipment, enabling it to move along the track guiding equipment and perform cargo transfer functions. The cargo storage and retrieval equipment 320 and the guiding equipment have a mutually cooperating guiding structure, allowing the cargo storage and retrieval equipment 320 to move along the running track formed by the guiding equipment.
[0055] Of course, this cargo storage and retrieval equipment also includes gripping devices for grabbing cargo, holding devices for temporarily accommodating cargo, and sensors for sensing current location information. It can move along guide rails installed and fixed on the shelves to a specific shelf location to complete cargo transfer operations.
[0056] In a cargo handling module 300, at least two cargo storage and retrieval devices 320 can be provided. Figure 2A illustrates an example of a configuration with two cargo storage and retrieval devices 320 (i.e., a first cargo storage and retrieval device 320A and a second cargo storage and retrieval device 320B). The first cargo storage and retrieval device 320A and the second cargo storage and retrieval device 320B are jointly mounted on a guide device. Thus, in the absence of physical obstructions, either cargo storage and retrieval device 320 can move along the guide device within its corresponding operating range.
[0057] The isolation device 330 is a means of establishing a physical barrier to prevent interference between the two cargo storage and retrieval devices 320. It is removably arranged on the operating track, thereby dividing the entire operating space track into at least two first sections.
[0058] It is understandable that the number of isolation devices 330 is related to the number of goods storage and retrieval devices 320; more goods storage and retrieval devices 320 require more isolation devices 330, and vice versa. Figure 2A illustrates, for example, the scenario where two goods storage and retrieval devices 320 are set up, requiring one isolation device 330.
[0059] In this application, "removable arrangement" means that the isolation device 330 has the characteristic of freely switching between removed and placed states. That is, the isolation device can be removed from the operating track or placed back into the operating track. This can be achieved through any suitable structural method, and no specific limitation is made here.
[0060] Based on the removably arranged isolation devices, the cargo storage and retrieval equipment in the cargo handling module is also designed to have two different operating modes. For simplicity, the two operating modes of the cargo storage and retrieval equipment will be described below as "Mode 1" and "Mode 2".
[0061] In the first mode, each cargo storage and retrieval device 320 moves and performs cargo handling tasks only within its corresponding first operating area. When an isolation device is provided, the isolation device 330 is arranged on the operating track.
[0062] In the second mode, at least one cargo storage / retrieval device 320 within the same channel is removed from the operating track; if an isolation device is present, the corresponding isolation device 330 is also removed from the operating track. At this point, there is no longer a physical or virtual barrier between two adjacent operating sections, and the remaining cargo storage / retrieval device 320 can move between the two operating sections and perform cargo handling tasks.
[0063] Based on the above description of the operating modes, it can be understood that when a cargo storage / retrieval device 320 is isolated (e.g., the first cargo storage / retrieval device 320A), it is no longer on the operating track. In other words, if the first cargo storage / retrieval device 320A malfunctions or malfunctions, the second cargo storage / retrieval device 320B can be easily switched to the second mode to ensure that the malfunctioning first cargo storage / retrieval device 320A is properly handled and isolated, thus minimizing the impact on normal cargo handling tasks.
[0064] Specifically, in response to an abnormality in the cargo storage and retrieval equipment, the operation of the first cargo storage and retrieval equipment can be temporarily stopped. The operator can then manually remove the malfunctioning first cargo storage and retrieval equipment from the operating track and remove the corresponding isolation equipment.
[0065] Alternatively, the removal of the aforementioned isolation equipment and the removal of the cargo storage and retrieval equipment from the operating track, in part or all of these operations, can be automated by the control terminal through the issuance of control commands, provided that an appropriate drive mechanism is configured.
[0066] As described above, cargo handling is a two-way transfer process. Therefore, as shown in Figure 3, the cargo handling task includes two types: the outbound task of moving goods from the first location L1 to the second location A2, and the inbound task of moving goods from the second location L2 to the first location L1.
[0067] In this embodiment, the first location L1 can be the aforementioned goods storage area. The second location L2 can be the aforementioned goods transportation area. Alternatively, depending on the actual application scenario, the first and second locations can be other locations or areas.
[0068] During the handling process, the goods storage and retrieval equipment can perform either unidirectional or bidirectional tasks. A bidirectional task, in the first mode, allows the same goods storage and retrieval equipment to perform both inbound and outbound tasks simultaneously. A unidirectional task, in the second mode, allows the same goods storage and retrieval equipment to perform only one type of task: either inbound or outbound.
[0069] For example, when the goods storage and retrieval equipment 320 moves only within the corresponding first operating area, it is designed to have sufficient transportation efficiency to simultaneously meet the needs of performing the aforementioned outbound and inbound tasks. In other words, within a certain time period, when the goods storage and retrieval equipment 320 moves only within the first operating area, it can perform both outbound and inbound tasks.
[0070] When the goods storage and retrieval equipment 320 moves within the second operating range, as its moving range expands, the number of shelves it covers also increases. At this time, it may not be able to provide sufficient transportation and transfer efficiency to meet the needs of goods transfer.
[0071] Therefore, in order to ensure the matching of the transportation efficiency of the goods storage and retrieval equipment 320, the goods storage and retrieval equipment in the second mode will only perform outbound tasks and will not be assigned to perform inbound tasks during a certain period of time.
[0072] This design ensures that the goods storage and retrieval equipment 320 has sufficient transport efficiency to meet the goods handling needs of the rack range covered by movement within two or more operating areas.
[0073] In some embodiments, as shown in FIG3, the cargo handling module may further include an openable protective device 340.
[0074] The protective device 340 works in conjunction with the shelving to create a relatively independent passageway (e.g., a safety door installed between the shelving units). This relatively independent passageway ensures that the goods storage and retrieval equipment 320 in the goods handling module will not experience unexpected collisions or safety accidents as it moves along the operating area.
[0075] In this application, the term "openable" is used to indicate that the protective device can switch between open and closed states. Specifically, the protective device 340 can be opened when appropriate to allow operators to enter the passageway and operate the goods storage and retrieval device 320, and can be closed when appropriate to establish a physical barrier to maintain the relative independence of the passageway and prevent collisions during the movement of the goods storage and retrieval device 320.
[0076] In addition, the term "temporary storage area" is used to refer to the area formed within the interval of the protection device 340, which is independent of the operating area. This area can have any suitable shape and size according to actual needs, and is not specifically limited here.
[0077] In actual operation, abnormal cargo storage and retrieval equipment can be moved and placed in a temporary storage area through the activated protective device, thereby removing the cargo storage and retrieval equipment from the operating track and switching the cargo handling module to the second mode.
[0078] Based on the cargo handling module provided in one or more of the above embodiments, this application further provides a warehouse. This warehouse can effectively reduce the impact of maintenance operations on warehouse operating efficiency and is well-suited for high-efficiency cargo handling scenarios such as consolidation.
[0079] Figure 4 is a schematic diagram of a warehouse provided in an embodiment of this application. As shown in Figure 4, the warehouse uses multiple of the above-mentioned cargo handling modules 300 and control terminals 400 to form a cargo handling system, thereby realizing the transfer of goods between the cargo storage and retrieval area 10 and the cargo conveying area 20.
[0080] The number of cargo handling modules 300 is consistent with the number of channels 12 in the cargo storage and retrieval area 10. That is, one cargo handling module 300 is set up for each channel, and each channel can allow cargo storage and retrieval equipment to run along the running track. The control terminal 400 establishes a communication connection with each cargo handling module 300, and can control multiple cargo storage and retrieval devices to perform corresponding cargo handling tasks, so as to orderly transfer one or more goods between the cargo storage area and the cargo conveying area.
[0081] Specifically, the aforementioned cargo handling tasks include two types: outbound tasks and inbound tasks. Outbound tasks refer to the process of transferring goods from cargo storage area 10 to cargo conveying area 20. Inbound tasks refer to the process of transferring goods from cargo conveying area 20 to cargo storage area 10.
[0082] In actual operation, if one of the first cargo storage and retrieval devices 320A malfunctions, the cargo handling module with the malfunctioning cargo storage and retrieval device can be stopped. The malfunctioning first cargo storage and retrieval device 320A can be removed from the channel through manual operation or automated operation, and the other normal second cargo storage and retrieval devices 320B can be switched to the second mode.
[0083] At this time, the control terminal 400 sends a corresponding control command to the second normal goods storage and retrieval equipment 320B, which is still operating normally, so that it can execute the outbound task in the second operating range.
[0084] When the outbound task is completed and the abnormal first cargo storage and retrieval device 320A returns to normal, the control terminal is configured to control the abnormal first storage and retrieval device 320A and other normal second cargo storage devices 320B to switch to the first mode and execute outbound or inbound cargo handling tasks within the corresponding operating range.
[0085] Therefore, when one of the goods storage and retrieval devices 320 malfunctions, the warehouse provided in this application embodiment can easily cope by switching the working mode and using other normally operating goods storage and retrieval devices 320 in the same channel to take care of the outbound task of the second operating area, thus ensuring the operating efficiency of the warehouse.
[0086] Furthermore, after all outbound tasks within the second operating zone have been completed by the normal second cargo storage and retrieval equipment 320B, the cargo handling module can be paused. The abnormal first cargo storage and retrieval equipment 320A can be moved into the operating track and switched back to the first mode through manual or automated operation by the operator.
[0087] At this time, the abnormal goods storage and retrieval equipment and the normal goods storage and retrieval equipment in the abnormal goods handling module are physically isolated from each other (isolation equipment 330 is arranged in the running track). The control terminal controls the normal goods storage and retrieval equipment in the abnormal goods handling module, so that it can perform outbound and / or inbound tasks within the corresponding operating range. At the same time, the operator can also safely and conveniently perform maintenance operations on the abnormal goods storage and retrieval equipment until it is restored to normal operation.
[0088] As described above, when a certain goods storage or retrieval device malfunctions, the normal goods storage or retrieval device located in the same channel as the malfunctioning device switches to a second mode, meaning that the normal goods storage or retrieval device may be set not to perform inbound tasks. Preferably, to ensure the continuous operation of the warehouse, the control terminal can also reallocate the inbound tasks to be performed by the malfunctioning goods storage or retrieval device to the remaining normal goods storage or retrieval devices.
[0089] In this application, the term "normal cargo handling module" is used to distinguish it from "abnormal cargo handling module" to indicate a cargo handling module in which all cargo storage and retrieval equipment is functioning normally.
[0090] By adjusting and allocating the above settings to the remaining normal cargo handling modules, the suspension of operation of some cargo handling modules will not affect the overall operation of the warehouse, ensuring that the overall cargo input and output process of the warehouse can continue.
[0091] Based on the cargo handling module provided in the embodiments of this application, this application further provides a cargo handling control method that can be applied to the above-mentioned cargo storage and retrieval equipment.
[0092] Figure 5 is a flowchart of the cargo handling control method provided in an embodiment of this application. As shown in Figure 5, the cargo handling control method includes:
[0093] S500 receives sorting instructions sent by the control terminal.
[0094] Sorting instructions may include at least one of the following information: the smallest stock keeping unit (SKU) for each item, the storage location information of the item, and the material box information of the item. The control terminal sends outbound or inbound sorting instructions to the goods handling modules in the warehouse based on the quantity of the goods and their storage location information.
[0095] SKU stands for Product Unique Number, and each product has a corresponding SKU number. For a given product, if any of its attributes—brand, model, configuration, grade, color, packaging capacity, unit, production date, shelf life, use, price, or place of origin—differences from other products, it can be considered a single item. The storage location refers to the specific location where goods are stored in a warehouse. For example, in the system, the available storage locations for each goods' bins are pre-planned based on the shelving layout.
[0096] S510. When the first and second goods storage and retrieval devices are in the first mode, the goods storage and retrieval devices move within their respective first operating ranges to perform bidirectional goods handling tasks, either for inbound or outbound.
[0097] When all cargo storage and retrieval equipment is operating normally, the first or second cargo handling module can be in the first mode. At this time, isolation equipment can be set in the running track to form physical isolation and shielding, thereby forming a corresponding operating area for each cargo storage and retrieval equipment; or, in the absence of physical isolation, the system can control the cargo handling module to operate in its corresponding area.
[0098] S520: Receive sorting instructions. When the first goods storage and retrieval device is in an abnormal state, control the second goods storage and retrieval device, which is in the same channel as the first goods storage and retrieval device, to move within the second operating range and perform one of the goods handling tasks of inbound or outbound.
[0099] The second mode mainly refers to the following: when one or more of the cargo storage and retrieval devices malfunction or become abnormal, the malfunctioning cargo storage and retrieval device is removed from the operating track by manual or automated means (if an isolation device is configured, the corresponding isolation device is removed); the second cargo storage and retrieval device remaining in the operating track can move unimpeded within the second operating area (for example, it can be two first operating areas) to replace the malfunctioning cargo storage and retrieval device in performing cargo handling tasks.
[0100] The coordination between the aforementioned cargo handling control method and the two different operating modes of the cargo storage and retrieval equipment can improve the efficiency of cargo handling tasks. Even if some cargo storage and retrieval equipment malfunctions, the remaining working equipment can still take over, avoiding prolonged downtime and improving overall system handling efficiency.
[0101] Specifically, as mentioned above, the cargo handling task may include: a one-way cargo handling task or a two-way cargo handling task; the specific handling task may be an outbound task of moving goods from the cargo storage area to the cargo conveying area and an inbound task of moving goods from the cargo conveying area to the cargo storage area.
[0102] To ensure a proper match between the cargo handling efficiency of the cargo storage and retrieval equipment and the assigned cargo handling tasks, the allocation of cargo handling tasks can be appropriately adjusted and controlled. As shown in Figure 6, when the cargo storage and retrieval equipment is in the first mode, step S510 can be:
[0103] S511. The first or second goods storage and retrieval equipment performs bidirectional goods handling tasks within its corresponding first operating area. For example, it can simultaneously perform outbound and inbound tasks within a certain time period.
[0104] "Assignment" refers to determining the correspondence between goods storage and retrieval equipment and specific goods handling tasks. Both outbound and inbound tasks can be assigned to goods storage and retrieval equipment. In other words, goods storage and retrieval equipment can handle both outbound and inbound tasks.
[0105] The outbound and inbound tasks can choose to use any suitable data type to record specific information, depending on the actual needs. For example, an outbound task can record the storage location and / or identification of the goods, while an inbound task can record the storage location and / or identification of the goods.
[0106] When performing an outbound task, the goods storage and retrieval equipment moves to the target location, retrieves the target goods, and then transports them to the goods conveying area. When performing an inbound task, the goods storage and retrieval equipment can transport the goods to the target storage location for storage.
[0107] Please refer to Figure 6. When a first cargo storage / retrieval device malfunctions and is removed from the operating track, and the second cargo storage / retrieval device is in the second mode, step S520 can be:
[0108] S521. Assign several one-way cargo handling tasks to the second cargo storage and retrieval equipment.
[0109] For example, a certain time period may only be used for outbound tasks or only for outbound tasks. Taking outbound tasks as an example, the second goods storage and retrieval equipment is a piece of equipment that is still in normal working order. It is only assigned to complete outbound tasks and not to complete or execute additional inbound tasks.
[0110] S522. Control the second cargo storage and retrieval equipment to move within the second operating area to perform the assigned one-way cargo handling task.
[0111] The second operating range may include multiple first operating ranges.
[0112] Therefore, by assigning outbound tasks only to the second cargo storage and retrieval equipment, the handling efficiency can be appropriately improved, so that its cargo handling efficiency matches the demand, thereby completing the assigned outbound tasks more quickly.
[0113] In some embodiments, referring to Figure 6, after the first cargo storage / retrieval device has completed all assigned outbound tasks and an isolation device is available, the corresponding isolation device is reset to the operating track, i.e., after returning to the first mode, the method may further include:
[0114] S523. After reverting to the first mode, assign several new bidirectional cargo handling tasks to the first cargo storage and retrieval equipment.
[0115] After a failure or malfunction of a primary cargo handling device is repaired, the isolation device can be reset.
[0116] At this point, the movement distance required to be covered by the target goods storage and retrieval equipment is restored to the corresponding first operating range. Accordingly, the control terminal can reassign outbound and inbound tasks to the goods storage and retrieval equipment, thereby eliminating the unidirectional goods handling task restriction set in the original step S522 (e.g., not assigning inbound tasks).
[0117] S524. Control the first cargo storage and retrieval equipment to move within the corresponding first operating range to perform the assigned bidirectional cargo handling task.
[0118] As described above, in some embodiments, when one of the goods handling devices is in the second mode, it will not be assigned inbound tasks to ensure that its handling efficiency can meet the needs of outbound tasks. However, during this period, other goods handling modules in the warehouse still have multiple inbound tasks to complete.
[0119] Preferably, please refer to Figure 6. To ensure the execution of the data entry task, this method also includes:
[0120] S530: Assign the inbound tasks that need to be executed within the same time period to the cargo storage and retrieval equipment of other cargo handling modules in the first mode.
[0121] Here, "the same time period" refers to the time period during which the goods storage and retrieval equipment is in the second mode. The specific allocation method for inbound tasks can be set according to actual needs. For example, the inbound tasks to be performed during this time period can be simply distributed evenly among the goods storage and retrieval equipment of each goods handling module in the first mode.
[0122] Based on the cargo handling control method provided in the embodiments of this application, this application further provides a cargo handling control device. This cargo handling control device can be executed by the aforementioned control terminal to implement one or more steps of the aforementioned cargo handling method.
[0123] Figure 7 shows a cargo handling control device provided in an embodiment of this application. As shown in Figure 7, the cargo handling control device 700 includes: a first control module 710 and a second control module 720.
[0124] The first control module 710 is configured to: receive sorting instructions, and when the first and second goods storage and retrieval devices are in a first mode, control the first and second goods storage and retrieval devices to move within their respective first operating areas to perform goods handling tasks. The second control module 720 is configured to: when the second goods storage and retrieval device is in a second mode, control the second goods storage and retrieval device to move within a second area to perform the goods handling tasks.
[0125] The first mode refers to the scenario where the first and second cargo storage / retrieval devices operate within their respective first operating zones. The second mode refers to the scenario where the first cargo storage / retrieval device is moved out of the operating track.
[0126] Specifically, the cargo handling task may include a one-way cargo handling task or a two-way cargo handling task. The first control module 710 is specifically used to: when the first or second cargo storage / retrieval device is in the first mode, control the first or second cargo storage / retrieval device to perform a two-way cargo handling task within its corresponding first operating area. Correspondingly, the second control module 720 is specifically used to: when the second cargo handling device is in the second mode, control the second cargo storage / retrieval device to perform a one-way cargo handling task within the second operating area.
[0127] In some embodiments, the cargo handling module further includes a removable isolation device arranged on the operating track. When the second cargo access device is in the second mode, the corresponding isolation device is further removed.
[0128] After the second cargo storage and retrieval device has completed all assigned one-way cargo handling tasks, please refer to Figure 7. The cargo handling control device 700 also includes a third control module 730.
[0129] Specifically, the third control module 730 is used to: after the first cargo storage and retrieval device is moved back into the running track and the isolation device is reset on the running track, assign a number of new bidirectional cargo handling tasks to the first and second target cargo storage and retrieval devices, and control the first or second cargo storage and retrieval device to move within the corresponding first running interval to execute the assigned bidirectional cargo handling tasks.
[0130] It should be noted that the control terminal provided in this application embodiment can be executed by any suitable type of electronic computing platform. This electronic computing platform can implement or execute one or more of the above-mentioned functions using electronic hardware, computer software programs, or a combination of both. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0131] Figure 8 is a structural block diagram of the controller provided in an embodiment of this application. As shown in Figure 8, the controller may include a processor 801 and a memory 502. Figure 8 uses a bus 803 connection as an example to establish a communication connection between the processor 801 and the memory 802.
[0132] Processor 801 can be any type of single-threaded or multi-threaded processor. Processor 801 can have one or more processing cores, which serve as the control center for acquiring data, performing logical operations, and distributing processing results.
[0133] The memory 802 is a non-volatile computer-readable storage medium, such as at least one disk storage device, flash memory device, distributed storage device remotely located relative to the processor 801, or other non-volatile solid-state storage device. It has a program storage area for storing non-volatile software programs, non-volatile computer-executable programs, and modules.
[0134] These computer-executable programs and functional modules can be called by the processor 801 to enable the processor 801 to implement the control terminal provided in the above embodiment. The memory 802 may also have a data storage area for storing the calculation results output by the processor 801.
[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A goods handling module, characterised in that, include: At least one guiding device, said guiding device being used to provide a preset running track; At least one first cargo storage and retrieval device and at least one second cargo storage and retrieval device are jointly disposed on a guiding device and can move along the running track; the running track provides a corresponding running section for each cargo storage and retrieval device. The first or second cargo storage and retrieval device may operate in the first mode or the second mode; When both the first and second cargo storage and retrieval devices are operating in the first mode, the first or second cargo storage and retrieval device moves within its corresponding first operating range to perform cargo handling tasks. When the second cargo storage and retrieval device is operating in the second mode, at least one of the first cargo storage and retrieval devices is moved out of the operating track, and the second cargo storage and retrieval device moves within the second operating range to perform cargo handling tasks.
2. The cargo handling module according to claim 1, characterized in that, The cargo handling task includes one-way cargo handling task or two-way cargo handling task. When the first and second cargo storage and retrieval devices are in the first mode, the first and second cargo storage and retrieval devices perform bidirectional cargo handling tasks in the corresponding first operating area; When the second cargo storage and retrieval device is in the second mode, the second cargo storage and retrieval device performs a one-way cargo handling task within the second operating range.
3. The cargo handling module according to claim 1 or 2, characterized in that, It also includes at least one isolation device; The isolation device is removably arranged on the operating track to form at least two first operating sections; When the first cargo storage and retrieval device malfunctions, it is removed from the operating trajectory, and the corresponding isolation device is removed; the second cargo storage and retrieval device is switched to the second mode and moves within the second operating range.
4. The cargo handling module according to claim 3, characterized in that, Also includes: An operable protection device; the protection device is located in a temporary storage area independent of the operating range; In response to an abnormality in the first cargo storage and retrieval device, the abnormal first cargo storage and retrieval device is removed from the running track and placed in the temporary storage area via the activated protection device.
5. The cargo handling module according to claim 4, characterized in that, The cargo handling task includes: The one-way or two-way cargo handling task; When the first and second cargo storage devices are operating normally, the isolation device is set on the running track, the first and second cargo storage devices are in the first mode, and the first or second cargo storage device performs bidirectional cargo handling tasks in its corresponding running area. When the first cargo storage and retrieval device is in an abnormal state, the corresponding isolation device is removed. When the second cargo storage and retrieval device is in the second mode, the second cargo storage and retrieval device performs a one-way cargo handling task within the second interval.
6. A cargo handling control method, applied to a control terminal of a first or second cargo storage and retrieval device, characterized in that, The cargo storage and retrieval equipment is installed within the cargo handling module, which includes: a guide device that provides a preset running track; at least one first cargo storage and retrieval device and at least one second cargo storage and retrieval device that are jointly installed on the guide device and can move along the running track; The cargo handling control method includes: Upon receiving a sorting instruction, when the first and second goods storage and retrieval devices are in a first mode, control the first and second goods storage and retrieval devices to move within their respective first operating ranges to perform goods handling tasks. The first mode is as follows: the first and second cargo storage and retrieval devices operate in their respective first operating ranges; When the second cargo storage and retrieval device is in the second mode, control the second cargo storage and retrieval device to move within the second interval and perform the cargo handling task; The second mode is characterized by the first cargo storage and retrieval device being removed from the operating track.
7. The cargo handling control method according to claim 6, characterized in that, The cargo handling tasks include: one-way cargo handling tasks or two-way cargo handling tasks; The control of the first and second cargo storage and retrieval devices to move within their respective first operating intervals to perform cargo handling tasks specifically includes: When the first or second cargo storage and retrieval device is in the first mode, control the first or second cargo storage and retrieval device to perform bidirectional cargo handling tasks in its corresponding first operating area. When the second cargo handling equipment is in the second mode, the second cargo storage and retrieval equipment is controlled to perform a one-way cargo handling task within the second operating range.
8. The cargo handling control method according to claim 7, characterized in that, The cargo handling module further includes isolation devices that can be removably arranged on the running track; When the second cargo storage and retrieval device is in the second mode, the corresponding isolation device is further removed; After the second cargo storage and retrieval device has completed all assigned one-way cargo handling tasks, the method further includes: After the first cargo storage and retrieval device is moved back into the running track and the isolation device is reset on the running track, several new bidirectional cargo handling tasks are assigned to the first and second target cargo storage and retrieval devices. The first or second cargo storage and retrieval device moves within the corresponding first operating area to perform the assigned bidirectional cargo handling task.
9. A warehouse, characterized in that, include: A goods storage area; the goods storage area is provided with several rows of shelves, and at least one aisle is formed between two rows of shelves; A cargo transport area; the cargo transport area is located at the edge of the cargo storage area and is equipped with at least one cargo transport device to enable one or more goods to be output from or input into the cargo storage area. The cargo handling module as described in any one of claims 1-5; one cargo handling module and a control terminal are provided for each channel; the control terminal is communicatively connected to each of the cargo storage and retrieval devices; The control terminal is configured to control the cargo handling module's cargo storage and retrieval equipment to perform corresponding cargo handling tasks, so that one or more goods can be transferred between the cargo storage area and the cargo conveying area.
10. The warehouse according to claim 9, characterized in that, In response to the completion of a one-way cargo handling task within the second operating range, and when the abnormal first cargo storage and retrieval device returns to normal, the control terminal is configured to: control the first cargo storage and retrieval device and the second cargo storage and retrieval device to switch to a first mode to execute a two-way cargo handling task within the corresponding first operating range.