CN109987366A

CN109987366A - A kind of unmanned warehousing system and out storage method

Info

Publication number: CN109987366A
Application number: CN201910036500.3A
Authority: CN
Inventors: 赵悦荣; 刘美艳
Original assignee: Hangzhou Big Tritium Intelligent Technology Co Ltd
Current assignee: Hangzhou Big Tritium Intelligent Technology Co Ltd
Priority date: 2019-01-15
Filing date: 2019-01-15
Publication date: 2019-07-09
Anticipated expiration: 2039-01-15
Also published as: CN109987366B

Abstract

A kind of the invention discloses unmanned warehousing system and out storage method solves the problems such as existing system deployment is complicated, maintenance is inconvenient, at high cost.The system embodiment is arranged below the channel support frame of two-layer structure in shelf, and lower layer is current for automatically guiding trolley, and upper layer container temporal cache or is passed through for standardizing, and interlayer support plate is perforation along the length direction or width direction of entire shelf.When implementing article outbound, forklift automatically proceeds to specified shelf and is aligned, the normalization container on shelf is taken out using picking mechanism, it is then lowered into support frame upper layer, on the supporting plate by container caching, subsequent automatically guiding trolley is advanced to below container to be jacked up through support frame lower layer and is detached from supporting element, and then trolley advances to sorting place through channel and tunnel, and storage process is then opposite.This system is easy deployment, easy to maintain, at low cost, makes the concurrent operation of a large amount of robots by scheduling system, whole efficiency is high.

Description

A kind of unmanned warehousing system and out storage method

Technical field

The present invention relates to storage technique field, in particular to a kind of unmanned warehousing system and out storage method.

Background technique

The key problem of automated warehousing is to carry out article between shelf and sorting work station efficiently to automate Transport.Currently, many warehouses come into effect automation, it is equipped with a large amount of mechanical equipment, such as integrated shelf, shuttle, stacking Machine, fork truck, automatically guiding trolley or AGV, conveyer belt etc., reduce cost of labor, improve storage sorting efficiency, but these All there are also not as good as in place of people's will for scheme.

It is few to Reconstruction in field compared to the integrated schemes such as shelf and shuttle using the automated warehousing scheme of mobile robot, It more easily disposes and realizes high concurrent operation, therefore is more favourable in some occasions.According to the kind of used mobile robot The difference of class can be divided into single kind mobile robot scheme and association, the multiple types robot including at least one mobile robot Make scheme.

Using single kind mobile robot scheme the advantages of be to be easy modularization and standardization, out of order tables of equipment Member can be with quick replacement.The Kiva robot system of Amazon Company is Typical Representative.Patent US7826919 describes utilization Submersible independent navigation trolley realizes the movement of blocking shelf, carries out " goods to people ".But the program be to entire shelf into Row is carried, therefore each moving trolley requires have larger lifting capacity, considerably increases equipment cost；In addition, shelf It too high otherwise cannot be easy to topple over during exercise, this restrict the promotions of warehouse capacity.Matsushita Corporation of Japan is in patent Scheme in JP2004277062 is the mobile robot and shelf pair for having lifting platform and forking means using single kind It connects, but to guarantee that robot motion's stability, the shelf number of plies are usually no more than three layers, limit the storage volume in warehouse, it is single The cost of platform mobile robot is also higher.

Different robots then can use using the robot cooperated scheme of multiple types for including at least one mobile robot Speciality.Scheme of the Amazon Company in patent US10138060 is to be equipped with modular two certainly at the back of each shelf By degree parallel moving mechanism and scalable push rod, a certain position can be moved to and push article outward from interior；On the other hand, automatically Installation on vehicle is guided to have hoistable platform, it makes hoistable platform height and shelf layer after can moving to specified shelf location Concordantly, to catch article, sorting work station is then transported；Program deployment cycle is long, at high cost, and reliability is not high.Beauty Scheme of the Dematic company, state in patent US9550624 is using a kind of moving trolley and one equipped with Joint Manipulator Kind is cooperated with the moving trolley of multilayer storing basket, and the latter follows the former to move, and completes article from shelf to storage by the former Transfer between object basket.Although program deployment is easier to, it is not required to transformation scene, Joint Manipulator picking range substantially It is limited, load capacity is not high and with high costs.The scheme that German Knapp company proposes in patent EP3170773 is automatic vertical Body library two sides bottom position reserves some spaces and is used to stop moveable multi-layered storage rack, by lane stacker by article from solid Shelf are put into library, moving trolley is moved to after shelf lower section jacks up shelf and is sent to sorting work station.The program needs to install Stereo garage, lower deployment cost is high, cannot work on when breaking down inside stereo garage, moving trolley can only be in the periphery of stereo garage Movement is without can enter its inner space, and the reserved space that periphery can be disposed is few, can not pass through and increase moving trolley quantity Improve handling capacity and efficiency.

To sum up, existing most of scheme or deployment are complicated, need to be transformed scene and a large amount of auxiliary electromechanics of installation is set Standby, when equipment fault, can not work on, although maintenance is also inconvenient or is not required to transformation scene, need to configure largely at This high heavily loaded moving trolley or mechanical arm.Deployment is complicated, maintenance is inconvenient, at high cost etc. all limits popularization.

Summary of the invention

In order to solve the above-mentioned technical problem, a kind of unmanned warehousing system and out storage method are disclosed in the present invention, The technical solution of invention is implemented:

It provides the unmanned warehousing system using mobile robot and buffer storage and improves operation using buffer storage Efficiency goes out storage method, and the article being placed on shelf is taken out and is transported to the completion outbound of sorting place by realization, or by object Product are transported to the shelf from sorting place and store to completion storage on the shelf, comprising: at least one described shelf, Front can pick and place article；At least one normalization container or a movable bracket, for storing scattered article；At least one Automatically guiding trolley, for transporting the normalization container to specified position；At least high equipment of heap, can pick and place institute The article on shelf is stated, the normalization container is contained；And management terminal, to the automatically guiding trolley and the high equipment of the heap Carry out carrying instruction；The unmanned warehousing system is characterized mainly in that the shelf have multilayer shelf and at least one A channel support frame, the caching space that the channel support frame Inner Constitution is stopped for the normalization container, while to carry It is described normalization container or the movable bracket the automatically guiding trolley provide travelled below the shelf row of channels, Channel or the row of channels and the column channel are arranged, the management terminal scheduling forklift is completed article, held containing the normalization Transfer of the device between shelf and the caching space, dispatches the automatically guiding trolley and completes the normalization container or described The outbound of movable bracket is put in storage and moves position.

Compared with prior art, a kind of unmanned warehousing system provided by the invention and out storage method, by under shelf Point of article is completed in the caching space of side by less mobile forklift and more small-sized automatic guided vehicle division of labor cooperation It picks and transports, realize the efficient transportation of " goods to people ".The advantages of system includes: that can continue to use existing traditional shelf, is not required to Addition electric wire and Electro-Mechanical Aid, the Reconstruction in field needed can be ignored substantially, be particularly suitable for transit depot；It is small-sized from Dynamic guide trolleys only need conveying articles rather than entire shelf, therefore only need the lifting capacity of very little, and cost can substantially reduce； Automatically guiding trolley and heap high equipment these two types robot can use standardized matured product can be fast when breaking down Fast disengaging scene repairs, and does not influence whole system and continues to run.In addition, mobile robot can use independent navigation skill Art, scene can not install the navigation flame float of any required line powered.Warehouse can be moved at any time, extended and be changed Become layout, has the characteristics that flexibility height, short implementation cycle, dismounting, transhipment, expansion are convenient.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this A kind of embodiment of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.

Fig. 1 is unmanned warehousing system top view and the automatically guiding trolley edge below shelf in the embodiment of the present invention 1 Row of channels operation executes out schematic illustration when input work；

Fig. 2 is the front schematic view of unmanned warehousing system working principle in the embodiment of the present invention 1；

Fig. 3 is the side schematic view of unmanned warehousing system working principle in the embodiment of the present invention 1；

Fig. 4 is in the embodiment of the present invention 1 using the schematic diagram of the typical channel support frame of fixed structure supporting element, wherein Fig. 4 a is a kind of channel support frame for providing for container of individually standardizing and caching space, and Fig. 4 b is another for single normalization appearance Device provides the channel support frame in caching space, and Fig. 4 c is a kind of channel support for providing for two normalization containers and caching space Frame, Fig. 4 d are another channel support framves for providing for two normalization containers and caching space；

Fig. 5 is the schematic diagram for several typical normalization containers that can be placed on supporting element in the embodiment of the present invention 1, In, Fig. 5 a is the top view and side view of a kind of normalized storage basket, Fig. 5 b be a kind of normalized pallet top view and Side view, Fig. 5 c are the top view and side view of a kind of normalized bracket；

Fig. 6 is that forklift realizes the gripper components structural schematic diagram for forking two sides normalization container in the embodiment of the present invention 1, Wherein, Fig. 6 a is structural schematic diagram when gripper components are in retracted mode, when Fig. 6 b is that the side fork of gripper components stretches out Schematic diagram, Fig. 6 c be gripper components other side fork stretch out when schematic diagram；

Fig. 7 is in the embodiment of the present invention 2 using the schematic diagram of the typical channel support frame of fixed structure supporting element, wherein Fig. 7 a is a kind of channel support frame for providing for two normalization containers and caching space, and Fig. 7 b is another for two normalization appearances Device provides the channel support frame in caching space；Fig. 8 is unmanned warehousing system top view and automatic guidance in the embodiment of the present invention 2 Schematic illustration when trolley executes out input work along the operation of column channel below shelf；

Fig. 9 is unmanned warehousing system top view in the embodiment of the present invention 3 and automatically guiding trolley in the dedicated row lane of trolley Schematic illustration when being run in road along line direction and executing out input work along the operation of column channel below shelf；

Figure 10 be in the embodiment of the present invention 4 unmanned warehousing system top view and automatically guiding trolley below shelf along row Channel and the operation of column channel execute out schematic illustration when input work；

Figure 11 is the movable bracket that supporting leg is had employed in the embodiment of the present invention 5；

Figure 12 is the groundwork flow chart that the present invention goes out management terminal in storage method；

Figure 13 is the elemental operation flow chart that the present invention goes out forklift in storage method；

Figure 14 is the elemental operation flow chart that the present invention goes out automatically guiding trolley in storage method.

In above-mentioned attached drawing, each figure number label is respectively indicated:

10- warehousing system；The ground 20-；30- staff；50- sorting work station；The maintenance of 60- mobile robot It stands；

100- multi-layered storage rack；110- channel support frame；120- multilayer shelf；111- supporting element；112- is guided automatically Trolley passage space；113- caches space；114- column；116- movable bracket；

200- automatic guided vehicle；The automatically guiding trolley of 200a- zero load；200b- is loaded with article (normalization container Or movable bracket) automatically guiding trolley；210- lifts platform；

300- forklift；310- hoistable platform；320- gripper components；

400- normalization container；410- component；420- storage space；430- stops component；

11- shelf row；12- heap high row tunnel；The combination of 13- shelf tunnel；The dedicated row tunnel of 21- trolley；22- is logical With row tunnel；23- row of channels；31- shelf column；32- column tunnel；33- column channel；

70a- first kind cell；70b- Second Type cell；70c- third type units lattice；70d-the Four type units lattice.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Wherein identical components are presented with like reference characters.It should be noted that word used in the following description Language "front", "rear", "left", "right", "up" and "down" refer to the direction in attached drawing, word " bottom surface " and " top surface ", "inner" and "outside" refers respectively to the direction towards or away from geometric center of specific component.

Embodiment 1:

As shown in Figure 1, the embodiment of the present invention 1 provides a kind of unmanned storage system based on mobile robot and caching space System and out storage method are related to sorting system of storing in a warehouse, and warehousing system 10 includes Dispatching Control System, do not show in figure, multiple multilayers Shelf 100, more automatic guided vehicles 200, more forklifts 300 and optional sorting work station 50 etc..Homing guidance is small Vehicle 200 and forklift 300 generally use built-in storage battery power supply.

Network is led to Dispatching Control System by wireless communication for each automatically guiding trolley 200 and forklift 300 The sensor that letter, automatically guiding trolley 200 and forklift 300 are equipped with by itself, such as laser radar, visual sensor, magnetic Line reader etc., and by the navigation identification object arranged in warehouse, such as reflection bar, two dimensional code, RFID patch etc., it realizes automatic Movement and positioning, such as the two dimensional code etc. being attached on ground and shelf.More autonomous pilot trolleys 200 and more forklifts 300 cooperations, realize and take out the normalization container 400 being placed on shelf 100 and be transported to sorting work station 50, that is, institute The outbound process of meaning or referred to as container transmission flow, or normalization container 400 is transported to shelf 100 from sorting work station 50 And it stores onto shelf 100, this namely so-called storage process or referred to as container recovery process.At sorting work station 50, Staff 30 or picking mechanical arm do not show in figure in the container 400 that will standardize and the article of outbound are waited to take out, or will wait The article of storage is put into normalization container 400.The automatically guiding trolley of the not no loading in top to be indicated using 200a to show difference 200, and 200b is used to indicate that top is loaded with the automatically guiding trolley 200 of normalization container 400.

To improve plot ratio, shelf are placed using linescan method.Multiple modular shelf 100 are laterally usually linked to be one A shelf row 11 is equipped with a heap high row tunnel 12 before every shelf row 11, and heap high row tunnel 12 is mainly for forklift 300 Traveling and operation, but also there is automatically guiding trolley 200 and staff to pass through once in a while.Usually by the two face-to-face directions of crudely-made articles frame It places to share a heap high row tunnel 12 being clipped in the middle.By heap high row tunnel 12 and all shelf towards the row tunnel The combination of row 11 is defined as a shelf tunnel combination 13.

In general, two adjacent shelf tunnels combination 13 is preferentially using the laying mode being close to back-to-back, to improve Plot ratio.But this is not absolute, it can also there are tunnels, such as a relative narrower among adjacent shelf tunnel combination 13 The dedicated row tunnel 21 of trolley, do not show in figure, with facilitate trolley quickly through.In addition, shelf tunnel combination 13 and warehousing system The general row tunnel 22 that 10 width generally reserved between the walls does not wait, facilitates automatically guiding trolley 200 and forklift 300 to travel Or it stops.

It is taken on along capable direction every several in addition, the shelf being aligned on longitudinal direction are defined as a shelf column 31 The laying mode in one column tunnel 32 of shelf column setting, is mainly used for automatically guiding trolley 200 and forklift 300 in a column direction Traveling.Arrange tunnel 32 width and quantity according to the actual situation depending on, can generally have a plurality of narrow column tunnel for drawing automatically Trolley 200 is led to travel, but at least one sufficiently wide column tunnel, to guarantee that forklift 300 can be from a heap high row lane Road 12 drives to another heap high row tunnel 12.

In Fig. 1, automatically guiding trolley 200 above or front filament and solid small arrow indicate this automatically guiding trolley Current progress path or direction of advance；The thick line and solid double-head arrow of the front of forklift 300 indicates that this forklift is current Progress path and target position, forklift 300 can drive to other row tunnels by arranging tunnel 32 as we can see from the figure.Such as Without arrow in front of fruit automatically guiding trolley 200 and forklift 300, then typicallys represent it and just work or await orders in situ.Every row The dotted line shown on shelf center line be used to indicate row of channels 23 of the automatically guiding trolley 200 below shelf, it be one with The parallel path in heap high row tunnel 12.In addition, there are also the filaments of some not arrows in figure, for illustrating automatically guiding trolley 200 common walking paths.

In sorting place, automatically guiding trolley 200 will standardize after container 400 is transferred to sorting work station 50, generally It waits in situ until the normalization container 400 for completing sorting is returned at sorting work station 50, subsequent trolley will standardize container 400 send corresponding shelf 100 back to.

In addition, further include mobile robot all-in-service station 60 in warehousing system 10, it is high for automatically guiding trolley 200 and heap Maintenance and maintenance of vehicle 300 etc..Be additionally provided with multiple charging piles in warehousing system 10, do not show in figure so that automatically guiding trolley and Forklift can charge nearby in electric power deficiency.

As shown in Fig. 2-Fig. 3, the top of shelf 100 is multilayer shelf 120, and every layer is divided into several, is 2 in figure Matter storage lattice, a normalization container 400 is placed on each matter storage lattice, and normalization container 400 refers to that size meets certain size and wants Storage basket, chest and pallet for asking etc. have usually stored article in container 400 but it is also possible to be empty to store article. Container 400 and other articles are grabbed for convenience of forklift 300, the pallet with longitudinal groove can be pre-placed on matter storage lattice Or bracket etc., do not show in figure.Since the width of normalization container 400 is less than shelf width, container 400 of standardizing is in shelf 100 On placement location generally not on shelf central axes, and be closer to heap high row tunnel 12, can reduce forklift 300 in this way The tilting moment born when picking and placing article, improves the lateral stability of forklift, while shortening and picking and placing the time.

Several are installed below each shelf 100, is 2 modular channel support framves 110, channel support frame in figure It can be the modular mechanical structured member independently of shelf, a part of customization shelf can also be fabricated to.Each channel branch Supporting element 111 is installed on the column 114 of support 110.In general, the height of trolley is substantially in 250mm or so, supporting element 111 mountable more slightly higher than trolley positions on column 114.

Space in channel bracket 110 is divided into automatically guiding trolley passage space 112 and stopped by supporting element 111 standardizes The caching space 113 of container, wherein each caching space 113 can stop a normalization container 400, adjacent caching space Between can also by standardize container 400, therefore cache space 113 simultaneously be also normalization container 400 passage space.It is logical There is no threshold between road support frame 110 and ground 20, therefore automatically guiding trolley can be in automatically guiding trolley passage space 112 Middle passage.There are horizontal clearances between supporting element 111, so that between automatically guiding trolley passage space 112 and caching space 113 Do not separate on shelf line direction, therefore form row of channels 23 in this direction, automatically guiding trolley 200 is allowed to carry customization Container 400 travels.

The hoistable platform 310 that can be gone up and down on a large scale is housed, having on hoistable platform 310 can grab above forklift 300 The gripper components 320 of normalization container 400 on 100 different layers of shelf；The width of forklift 300 is wider than heap high row tunnel 12 Spend it is slightly narrow, gripper components 320 can in 12 both racks 100 of heap high row tunnel normalization container 400 and article carry out Crawl；In the extreme lower position of hoistable platform 310, container 400 of standardizing can be put into the caching space of two sides by gripper components 113.By rationally designing the structure size of supporting element 111 and normalization container 400 on channel support frame 110, it is not difficult to realize When the gripper components 320 of forklift 300 protrude into caching space 113, unloaded automatically guiding trolley 200 can be in crawl section 320 lower section of part still can pass through.

As shown in Figure 1-Figure 3, more forklifts 300 straight-line travelling and operation in heap high row tunnel 12, execute positioning, The movements such as lifting, crawl are completed vertical direction of the normalization container 400 between shelf 120 and caching space 113 and are shifted；Heap High vehicle 300 is not limited in a row tunnel and works, and column tunnel 32 can be entered from heap high row tunnel 12 and then drives to it Its heap high row tunnel 12；Sky under 12 both racks of heap high row tunnel where container 400 of standardizing is placed by forklift 300 Spare time caching space 113 after can continue to execute it is next pick part task, be not required to original place wait automatically guiding trolley 200.With this Meanwhile automatically guidance of the more automatically guiding trolleys 200 inside heap high row tunnel 12, column tunnel 32 and channel support frame is small It is travelled in vehicle passage space 112, the movement such as executes positioning, lift, put down, delivering, implementation specification container 400 is in caching space Transhipment between 113 and sorting work station 50, or normalization container 400 is transported to another from a caching space 113 Caching space 113 is to reduce blocking；It is not difficult to find out that being loaded with normalization container as long as front caching space 113 is unoccupied Automatically guiding trolley 200b can be travelled in row of channels 23.

Automatically guiding trolley 200 is the miniature mobile robot with self-navigation ability, generallys use differential gear train drive Dynamic, four universal supporting rollers of arranging in pairs or groups have the characteristics that small in size, at low cost.In addition, trolley generally use symmetric construction so as to Enough casts.But specific drive form is not limited to this form, is also possible to omnidirectional driving wheel system etc..As shown in Figure 1, In the present embodiment, automatically guiding trolley 200 is preferentially travelled in column tunnel 32 and automatically guiding trolley passage space 112, is prevented Into heap high row tunnel 12, the path conflict between forklift 300 is avoided.

Automatically guiding trolley 200 also lifts platform 210 with short stroke, the trolley when lifting platform 210 and falling It can dive into immediately below the normalization container 400 in channel support frame 110.Platform 210 is lifted to rise and normalization 400 bottom of container The component 410 in portion forms cooperation, and the normalization jack-up of container 400 is allowed to be detached from supporting element 111, so as to so that rule Container 400 of formatting can be moved together with trolley 200, be advanced along shelf line direction or column direction.It is lifted to further increase The alignment precision of platform 210 and normalization 400 bottom of container can stick two dimensional code in normalization 400 bottom of container, and lift Camera is installed on platform 210, deviations are calculated by vision processing algorithm, the position of automatically guiding trolley is adjusted or lifts It realizes and precisely aligns in the position of platform.

Fig. 4 is the schematic diagram of the typical mounting structures supporting element in the embodiment of the present invention 1 on channel support frame.Channel support For supporting element 111 on frame 1 generally using the metal plate being fixed on column 114, normalization container 400 can rest in metal Above plate.Channel support frame in Fig. 4 a and Fig. 4 b container 400 that is configured to individually to standardize provides caching space, Fig. 4 c and Channel support frame in Fig. 4 d is configured to two normalization containers 400 and provides caching space, but it is clear that can pass through group It closes these channel support framves and provides caching space for more normalization containers.For channel support shown in Fig. 4 a and Fig. 4 c Frame, delivery normalization container automatically guiding trolley 200b can in the row direction with moved on column direction；And for Fig. 4 b and The automatically guiding trolley 200b of channel support frame shown in Fig. 4 d, delivery normalization container can only be along parallel with long-bar metal plate Line direction on move.The advantages of scheme shown in Fig. 4 b and Fig. 4 d, is that the rigidity of channel support frame can be improved, but independently draws It is few to lead scheme shown in path planning direction ratio Fig. 4 a and Fig. 4 c of trolley, therefore can select according to actual needs.In addition, in order to allow Normalization container 400 keeps preferable position precision when stopping, and is usually additionally arranged some limiting components on a metal plate, in figure Do not show, such as the protrusion to match with normalization container bottom shape or groove etc..

Normalization container 400 in the present embodiment is the various storage baskets that can be put into caching space 113, chest, pallet With bracket etc..Fig. 5 is to watch in the embodiment of the present invention 1 can be placed in three on supporting element 111 from depression angle and horizontal view angle The schematic diagram of the typical normalization container 400 of kind.Wherein, Fig. 5 a is a kind of storage basket, is normalization container 400 in Fig. 2-Fig. 3 A kind of deformation, stopping component is flange in container side.Fig. 5 b is typical pallet, and the groove of upper surface facilitates fork Son is extracted out after putting down article.Fig. 5 c is a kind of light-weighted bracket, and top does not pile up article generally, but is used to hold up Other containers that can not individually stop of side, the quadrangle of bottom can rest on supporting element 111.These are typically standardized Container all has following essential characteristic: bottom is equipped with can be with the component of automatically guiding trolley lifting platform 210 and docking 410, it is usually provided at bottom centre, the working forms of component 410 include pin hole cooperation, electromagnet absorption, based on non-slip mat Or the cooperation etc. of devil's patch, for example, it is equipped with cone shaped countersink in normalization 400 bottom of container, and it is right lifting 210 top of platform It answers position to be equipped with tapered protrusion, forms pin hole cooperation after the two alignment, in another example it is embedded with patch in normalization 400 bottom of container, And 210 top corresponding position of platform is being lifted equipped with electromagnet；It is that can place article inside or above normalization container 400 Storage space 420；On the periphery of normalization container 400 or bottom there is necessary stop component 430 to rest in branch for it In support member 111；Normalization container 400 should also have the gripper components 320 of forklift 300 can be allowed to be grabbed to be crawled portion Part or structure do not show that this depends on the working forms with gripper components 320, for example, if the gripper components 320 of forklift in figure Using the mode that forks, then the position of normalization container 400 can be simply placed on shelf, and to place two battens in advance padded, It, can be in the side insertion iron plate, etc. of normalization container if gripper components 320 use electromagnet suction type.

Fig. 6 is that stacker realizes that the structure for the gripper components 320 for forking two sides normalization container is shown in the embodiment of the present invention 1 It is intended to.It has been necessary functions for the narrow opening forklift of commercialization that two sides, which fork function, can there are many conventional design layout Selective, which only illustrates that forklift 300 can be by any side in heap high row tunnel 12 with a kind of relatively simple scheme Normalization container 400 on shelf takes out, and then puts it on the shelf of opposite side, is not intended to limit the invention. Fig. 6 a is structural schematic diagram when gripper components 320 be in retracted mode, top have the fork 321 that can stretch out to the right with can be to The fork 322 of left stretching.There is a motor-driven linear movement mould group below two forks, wherein there are also one for fork 322 A additional small stroke lifting equipment 323, including 2 driving motors 3231 and two groups of scissor telescoping mechanisms 3232.Driving electricity Machine 3231 can make scissor lift structure 3232 lift or put down by speed reducer and screw drive.As shown in Fig. 6 b, when When small stroke lifting equipment 323 is put down, fork 321 can stretch out to the right, and when small stroke lifting equipment 323 rises, fork 322 can stretch out to the left.In fact, stacker realizes that the gripper components of crawl two sides normalization container can also use electromagnet Etc. forms, can normalization container 400 side fixed iron piece, and in gripper components be arranged electromagnet sucker, work as electromagnetism Normalization container 400 is adsorbed when iron sucker powers on, and is unclamped when the power-off of electromagnet sucker and receives normalization container 400.Into one Step, gripper components are also designed to the combination etc. of the forms such as fork and electromagnet.

In embodiment 1, it is used in channel support frame 110 using forklift 300 and 200 timesharing of automatically guiding trolley Normalization container caches the dispatching method in space 113 to improve the storehouse warehouse-in efficiency out of normalization container 400, can integrate use Various simple strategies and sophisticated strategies.

Simple strategy, which refers to, delaying one-row space is set in advance fixed segmentation, is respectively used to storage and outbound, and timesharing Using caching space, including but not limited to following strategy:

Strategy 1: the caching space under same crudely-made articles frame is divided into two sections of left and right, is respectively used to the storage of normalization container 400 And outbound, the right half for caching space quantity is used to send out normalization container 400, and the half on the left side is for recycling specification Change container 400, sends out queue and recycle queue and all take the rule for being sequentially placed normalization container 400 from right end to left end, from The automatically guiding trolley 200 that left end enters then first will be near the normalization container of right end if it is unloaded trolley 200a 400 jack up and transport, and are first sent to container 400 if it is the automatically guiding trolley 200b carried wait be put in storage normalization container 400 The cache location near the preceding free time of queue is recycled, normalization container 400 is fallen, then drives to and sends out queue right end The lower section of normalization container 400 to shipment, then rise and lift platform and take the normalization container 400 away, if right end does not have To the normalization container 400 of shipment, then trolley 200 waits or continues to leave for other shelf for needing outbound forward.

Strategy 2: the caching space under two crudely-made articles framves of shelf tunnel combination carries out normalization container 400 respectively Outbound and storage, for example, in the caching space 113 of 12 certain side of heap high row tunnel, forklift 300 is suitable by from right to left Sequence places the normalization container 400 for waiting and sending out sorting, and in the caching space 113 of the other side, automatically guiding trolley 200 The normalization container 400 for waiting recycling storage is placed according to sequence from left to right, the guidance automatically for being loaded with container to be put in storage is small Container 400 of standardizing is placed on after the caching space of side by vehicle 200b can continue to run until that the caching space of the other side is gone out Goods.

Simple strategy is reliable, avoids the fortune that 300 gripper components 320 of forklift may occur with automatically guiding trolley 200 Dynamic interference.But efficiency is frequently not highest.Practical application can use other more complicated strategies, including but not limited to as follows Strategy:

Strategy 3: the caching space under same crudely-made articles frame does not set fixed segments, and forklift 300 and loading guide small automatically Vehicle 200b timesharing carries out the storage and outbound of normalization container 400 using idle caching space, and use one is brought out, one end into, Right end go out left end into or right end go out into left end, forklift 300 is responsible for finding the nearest clear position not interfered.For example, Forklift 300 by the normalization container 400 removed from shelf 100 be placed on all loadings in moving condition guide automatically it is small The appropriate clear position of the more left end of vehicle 200b, or all loading automatically guiding trolley 200b for moving condition is waited to pass through It is placed into after crossing current clear position.And more unloaded automatically guiding trolley 200a successively enter below shelf from left end by team Right end jacks up and transports to outbound normalization container 400 in column；The automatically guiding trolley 200b for being loaded with container to be put in storage will Container 400 is first sent to queue right end one idle caching space position and puts down normalization container by normalization container 400, is fallen Platform is lifted, 400 lower section of normalization container to be sorted for proceeding to right end is then proceeded to, rises lift platform again, it will It is transported.

Since the high equipment of heap and the automatically guiding trolley for carrying normalization container are required using the caching below shelf row Blank space, so in addition to running above-mentioned timesharing dispatching method on scheduling level, drawing automatically a possibility that in the presence of colliding Leading trolley 200, also to run obstacle avoidance algorithm reliable to ensure safety.In general, the path planning of forklift has more Gao Youxian Grade, therefore the path planning of automatically guiding trolley can be adjusted based on route planning information of forklift etc..For example, when carrying rule The automatically guiding trolley of container of formatting is prepared to enter into the next channel support frame in front along the row of channels traveling below shelf row When, information and confirmed under by the information of self-sensor device system acquisition that automatically guiding trolley is obtained according to wireless communication There is no the obstacles such as other automatically guiding trolleys or normalization container in one channel support frame, it is high that heap is obtained by wireless communication The gripper components of equipment protrude into and caching in front of residence time section and location information, with itself process in the caching space of front The period in space and location information are compared, and next channel support frame is entered when not interfering.

Embodiment 2:

Fig. 7 is the schematic diagram of the typical mounting structures supporting element in the embodiment of the present invention 2 on channel support frame.Wherein for Channel support frame shown in Fig. 7 a, normalization container 400 can rest in above supporting element, and can in the row direction with column side Move up, using the advantages of structure be automatically guiding trolley path planning it is more flexible；And for channel shown in Fig. 7 b Support frame, normalization container 400 can rest in above supporting element, but may only be along the column direction parallel with long-bar metal plate Upper movement is that the rigidity of channel support frame can be improved using the advantages of structure.

Fig. 8 is goods sorting system integral layout and automatically guiding trolley the edge column below shelf in the embodiment of the present invention 2 Schematic illustration when direction is run.Unlike the first embodiment, the column channel 33 that automatically guiding trolley 200 travels in Fig. 7 It can be across the heap high row tunnel 12 travelled mainly for forklift 300.So needing passage path planning algorithm to avoid drawing automatically The collision of trolley 200 Yu forklift 300 is led, and guarantees that system overall operation efficiency is higher.

A kind of basic planning algorithm is, when an automatically guiding trolley 200 has reached the heap high row lane that will enter When the edge in road 12, the information about forklift and space hold in advance route is obtained from Dispatching Control System, is then divided Analysis: if the automatically guiding trolley passage space 112 on 12 opposite of heap high row tunnel and caching space 113 can permit the trolley into Enter, now pass through heap high row tunnel 12 if then continuing to calculate, whether the required period with forklift 300 passes through this lane Duan Hang There is intersection in the period in road space, advances if without intersection, runs above-mentioned algorithm again after otherwise waiting for a period of time.It should Algorithm requires forklift 300 that its route planning information in the following several seconds is distributed to Dispatching Control System in advance.Due to certainly The time that dynamic pilot trolley 200 passes through heap high row tunnel 12 only needs the several seconds, and forklift 300 does not occupy and without the position Period is relatively long, therefore trolley has more chance to pass through row tunnel, and whole system can obtain higher operational efficiency.

Whether automatically guiding trolley 200 enters after the automatically guiding trolley passage space 112 on opposite, be loaded with according to itself The occupancy situation selection in normalization container and front caching space acts in next step.For example, if in the caching space 113 of front Have normalization container 400 to be delivered, and trolley is zero load, then trolley transports the container；If trolley itself is loaded with appearance Device, the then container that itself is loaded with by trolley are firstly placed on current cache space 113, and then advance a lattice, by the specification of one lattice of front Change container 400 to jack up and transported to next position.

The characteristics of the present embodiment is that dispatching algorithm is relatively easy, does not need that too many column tunnel 32 is arranged.It is particularly suitable for storehouse Line number is less in library, and the longer occasion of length of every crudely-made articles frame.

Embodiment 3:

Fig. 9 is goods sorting system integral layout in the embodiment of the present invention 3 and automatically guiding trolley in the dedicated row lane of trolley In road along line direction run, and below shelf along column direction run when schematic illustration.The present embodiment generally use with The identical fixed structure supporting element as shown in Figure 7 of embodiment 2.

As different from Example 2, it is dedicated to increase several trolleies between two groups of shelf tunnel combinations 13 for the present embodiment Row tunnel 21.Illustrated for increasing the dedicated row tunnel 21 of a trolley in Fig. 8, automatically guiding trolley 200 successively from one end into Enter the tunnel, after reaching specified shelf column, turn in situ, subsequently into corresponding column channel 33.Part trolley in figure On counterclockwise arrow and clockwise arrow indicate that this trolley just rotates in the position so that it is towards being directed at the position Channel 33 is arranged, so as to enter the caching space 113 of 100 lower section of shelf.Particularly, special using a plurality of adjacent trolley It can permit automatically guiding trolley with row tunnel 21 and be switched to the dedicated row tunnel of other trolleies, to be easier to find shorter row Sail path.

The benefit of the present embodiment is, although reducing some space for putting shelf, reduces automatically compared to embodiment 2 33 length of column channel of pilot trolley 200 reduces time and number of the automatically guiding trolley across heap high row tunnel 12, adds The fast turnaround speed of automatically guiding trolley 200, to obtain higher operational efficiency.

Embodiment 4:

Figure 10 be in the embodiment of the present invention 4 goods sorting system integral layout and automatically guiding trolley below shelf along row Schematic illustration when direction and column direction are run.The present embodiment generally uses fixed structure supporting element shown in Fig. 7 a.

As shown in Figure 10, the position that dotted line intersects in figure, automatically guiding trolley 200 can choose line direction and column direction Between switch, including the switching between the dedicated row tunnel 21 of trolley and column channel 33, and in column channel 33 and row of channels 23 Between switching.Pass course switching can usually reduce blocking, shorten the trolley turnaround time.Switch driving direction for automatic There is no problem for pilot trolley, this is because automatically guiding trolley 200 can accomplish that volume is small and exquisite enough, is drawing automatically It leads and completes to turn in trolley passage space 112, as long as in addition, guaranteeing that normalization container 400 is remained with channel support frame 110 Certain safe distance, the then container 400 that also allows to standardize in the caching space 113 in channel support frame 110 are flat in line direction Switch between the translation of dynamic and column direction.

For example, automatically guiding trolley 200 is driven using differential gear train.The equivalent diameter of trolley 200 is less than channel support frame 110 short side dimensions, when trolley 200 drives to the center of channel support frame 110, trolley 200 can with cast without Movement interference occurs.The automatically guiding trolley 200 for carrying normalization container 400 completes traveling side by executing a series of actions To the switching in line direction and column direction between the two, these movements include will standardize container fall rest on supporting element, 90 ° of trolley original place turns to, normalization vessel top is played movement.

In another example automatically guiding trolley 200 is using can keep car body as you were and direction of advance is in line direction and column The form knowns such as the drive train switched between direction, including omnidirectional's train.For example, the omni-directional wheel formed using McCrum wheel System, when trolley drives to the center of channel support frame, trolley direction is constant, by adjusting each McCrum wheel Revolving speed complete switching of the direction of travel in line direction and column direction between the two.

In another example the two groups of independent driving wheels installed using angle in 90 °, when one group of driving wheel is fallen and ground face contact When, another group of disengaging ground；In another example using the drive train of the differential speed gears composition with vertical axis of rotation, every group of spider gear System is connected by the coaxial bearing of perpendicular rotating shaft with top car body.When two reversed constant speed of wheel of every group of differential speed gears When rotation, spider gear changes direction but not generates horizontal thrust and torsional moment to car body, therefore car body direction and position are equal It will not change, complete to switch between the two in line direction and column direction after the complete steering in 90 ° of spider gear.

The present embodiment is the general type of the three kinds of embodiments in front in fact, allows automatically guiding trolley that can travel all Path in select, to Dispatching Control System with maximum search space.The tunnel in fact, automatically guiding trolley can also be expert at Middle traveling, as long as keeping certain safe distance with forklift, but related scheduling algorithm is more lengthy and tedious.These dispatching algorithms essence On be all timesharing use space dispatching method, therefore after embodiment 5 we to a kind of timesharing used in the present invention Use space method is introduced.This method for convenience of description introduces a kind of mikey of discretization: unit in Figure 10 Lattice.The main Types of cell include: first kind cell 70a, the intersection of a corresponding row of channels and a column channel, the Two type units lattice 70b, the intersection in a corresponding heap high row tunnel and a column channel, third type units lattice 70c, corresponding one The intersection and the 4th type units lattice 70d, corresponding general row tunnel and column of the dedicated row tunnel of trolley with column channel are logical The corresponding cell of the intersection in road；Cell is projected as rectangle ground, wherein point is located at the intersection point of row axis and column axis, One hem width degree is column channel width, and another hem width degree is the width in place row of channels or row tunnel.The concept of cell can answer Use and lack column channel and lack the embodiment of row of channels because can these imaginary embodiments there is also column channel or row are logical Road, only no through traffic in certain channels.

Embodiment 5:

In embodiment 1-4, the combination of supporting element 111 and normalization container 400 can use the movable support with supporting leg Frame 116 replaces, and provides spatial cache by movable bracket 116 for article.Using movable bracket 116 mainly for some relatively special Different user demand, such as: shelf too it is high be inconvenient to increase be difficult to install branch additional on channel support frame or existing shelf post Support member, or be not intended to hold article storing basket or pallet to compress the layer of shelf height, and be desirable with movable support The characteristics of frame can be parked at any time, etc..

A kind of simplest structure of movable bracket 116 is the quadrangle desk for having four legs as shown in figure 11, but long Width and height dimensions are less than channel support frame inner space length, width and height, and height is greater than the height of automatically guiding trolley so that trolley can be with Lower section is slipped into, pallet channel away is generally used above desk plate, is extracted out after facilitating the fork of forklift to put down article, desk Plate lower surface is equipped with the component lifted, and can form separable match with the platform 210 of lifting of automatically guiding trolley It closes, the working forms of component include pin hole cooperation, electromagnet absorption, the cooperation pasted based on non-slip mat or devil etc..For So that movable bracket more stable can stop on the ground and holding position, usually also installed between table support leg and ground Pairs of component cooperates for example, by using following pin hole, is machined with taper hole in table support leg bottom surface, installs on the ground Conic convex.

Since not using additional normalization container, forklift 300 can directly be put after taking out article from shelf It sets on movable bracket 116.But on the other hand, in order to make forklift 300 available free always movable bracket 116 to place object Product, the movable bracket that shelf lower section usually requires to stop multiple free time caches space as ready-to-use article, autonomous in this way Pilot trolley can encounter more movable bracket when carrying movable bracket across support frame channel, be easy to produce blocking.Therefore certainly Dynamic pilot trolley usually requires according to circumstances to select path planning, mainly includes four kinds of path plannings: the first path planning is It allows trolley to travel in row of channels 23, first using itself contained movable bracket is put down, then goes to remove front movable bracket；Second Kind of path planning is that trolley carries movable bracket and enters heap high row tunnel 12, and then along heap high row tunnel 12, traveling eventually enters into column Tunnel 32 needs to coordinate with the path planning of forklift, avoids colliding with forklift；The third path planning is small vehicle-mounted Movable bracket pass through heap high row tunnel 12 enter another shelf below；4th kind of path planning is using small beside shelf The dedicated row tunnel 21 of vehicle or general row tunnel 22.Wherein, the 4th kind of route is most short, but needs to reserve corresponding row tunnel, makes Effective storing area in warehouse is reduced, when outbound, automatically guiding trolley 200 will cache 111 support of movable support in space It rises, and is moved to the row tunnel in shelf tunnel combination outside along column direction；When storage, automatically guiding trolley 200 is from shelf lane Movable support 111 is sent to caching space by the row tunnel in road combination outside.The main region of the present embodiment and patent EP3170773 It is not shelf lateral connection into shelf row, the channel support frame below shelf row is the automatically guiding trolley for carrying movable bracket Provide row of channels and column channel, therefore automatically guiding trolley can carry movable bracket along row of channels or along column channel into Shelf out can additionally share the space in the high tunnel of heap with the high equipment of heap.

Although the present embodiment structure is simply easy to implement, land occupation is more, therefore usually combines and answer with other embodiments With.

Remarks explanation

About embodiment 1-5, there are also some remarks to be described as follows:

In the unmanned warehouse system top view of embodiment 1-5, the driving direction of automatically guiding trolley 200 is described At advancing in one direction, but actually, trolley completely can be with two way, only for based on traveling of advancing, this is because in reality In the deployment of border, the sensors such as laser radar only are housed in small front side to save cost, it forward when driving can preferably actively Avoidance.But since trolley has preferable precise positioning ability, so retreating traveling, also there is no problem, can using two way To allow the better programme path of automatically guiding trolley, such as the turnover normalization container 400 between adjacent caching space, it is promoted System effectiveness.

In embodiment 1-5, forklift is not limited to wheeled forklift, can be other high equipment of moveable heap, example It can such as be replaced with reversely hung Yong stacking machine, reversely hung Yong stacking machine is walked by being mounted on the guide rail right above tunnel, and guide rail passes through Hardware connects at the top of the shelf of tunnel two sides, or the lower section of place tunnel ceiling is suspended on by metallic rod.On The various embodiments enumerated are stated, under the premise of reconcilable, can be combined with each other implementation, those skilled in the art are in combination with attached drawing Above to the explanation of embodiment, as the foundation being combined to the technical characteristic in different embodiments.

Storage method basic procedure out

Embodiment 1-5 is used goes out storage method basic flow chart as shown in Figure 12, Figure 13 and Figure 14.Wherein, Tu12Wei The groundwork flow chart of management terminal, Figure 13 are the elemental operation flow chart of forklift, and Figure 14 is the base of automatically guiding trolley This operation process chart.Storage method out proposed by the present invention uses the working principle of timesharing use space.Using different spaces When granularity, the details of storage method has difference out, in general, can be obtained by using smaller spatial granularity more efficient Rate, such as allow two equipment that lesser distance is kept successively to pass through a cell.But for ease of understanding, we are to implement Cell in Figure 10 of example 4 is illustrated for spatial granularity, and it is assumed that each cell can only allow one a moment Platform equipment uses.

In S602, management terminal gives the specified high equipment of several heaps and several automatically guiding trolleys difference according to actual needs Issue carrying instruction；In S604, management terminal, which receives the space that automatically guiding trolley and the high equipment of heap are submitted in warehouse, to be made With application；Then in S606, management terminal carries out interference analysis as unit of cell, and common interference scene includes that heap height is set Standby and automatically guiding trolley is intended to the case where entering channel support frame, and automatically guiding trolley wishes temporarily to enter heap high row tunnel The case where, and the case where different automatically guiding trolley wants to enter into the same cell etc.；In S608, management terminal is according to dry It relates to analysis result and issues command adapted thereto to relevant device, include mainly confirmation message, reject information and move bit instruction, receive confirmation The equipment of information can enter corresponding unit lattice, receive after the equipment for rejecting information then waits certain time and apply again；? S610, management terminal updating unit lattice occupied information and predetermined information.Since S604 is usually asynchronous execution, might as well assume to manage Terminal runs a S606 every 100ms, and all space requests for utilization received in a upper 100ms period are carried out interference point Analysis.When the right to use of one cell of multiple equipment application, general use arrives first first or the rule of higher precedence, if There are equipment or object to occupy or predetermined in one cell, has not then reallocated, the submission when equipment or article leave The signal of Free up Memory, but under some cases, management terminal, which can also send instructions to relevant device, enables it leave, or sends Bit instruction is moved to move article away by it to an automatically guiding trolley.In some cases, the space that mobile device is submitted uses Application needs to include one group of connected cell, such as when automatically guiding trolley is across heap high row tunnel, needs predetermined heap simultaneously The first kind cell 70a of Second Type cell 70b and heap high row tunnel opposite on high row tunnel, in S608, only When having the two cells that interference is all not present, management terminal can just send confirmation message to automatically guiding trolley.

In S702, the carrying instruction to be received from management terminal such as the high equipment of heap, the high equipment of heap, which receives, carrys out Self management end The carrying at end instructs, including target item, the heap high start position and the high final position of heap of standardize container or usual articles, heap The information in high start position and the high final position of heap includes the position that shelf are expert in tunnel and target item in shelf and leads to The position placed on road support frame.The high equipment of heap is advanced automatically, n cell in front of S704 is submitted to management terminal and to be entered Space request for utilization, n is the integer greater than 0 herein, after S706 obtains management terminal confirmation, moves forward n list in S708 First lattice and as needed switching direction of advance and adjustment hoistable platform height, so-called switching direction of advance refer in line direction and column Switch between direction, by repeating S704-S708, until S710 navigates to the shelf of heap high start position and alignment, passes through liter Drop platform movement is directed at gripper components with the target item being placed on shelf or channel support frame；Judge that crawl is made in S712 Whether industry needs to protrude into channel support frame, if you do not need to then executing S720, is included in warehouse-in instruction terminal for container or article It is placed on shelf, and grabs container or article from shelf in outbound instruction starting point；If crawl operation needs to protrude into logical Road support frame then submits the space request for utilization into channel support frame in S730 to management terminal, true through S732 management terminal After approving row, S734 is executed, is included in warehouse-in instruction starting point and protrudes into gripper components in channel support frame, grabbed from supporting element Extracting container grabs article from movable bracket, and protrudes into gripper components in channel support frame in outbound instruction terminal, will Container is placed on supporting element or places items on movable bracket.Then judge that currently assigned position has been point in S740 It sets or final position then also needs again since S704 if it is start position, automatically proceed to the high final position of heap, Then show that carrying instruction has completed if it is final position, the high equipment of heap continues to execute next carrying instruction, or entrance to The instruction to be handled such as machine state.

In S802, the carrying instruction to be received from management terminal such as automatically guiding trolley carries the type of instruction at least It including outbound instruction and warehouse-in instruction, also typically includes and moves bit instruction, that is, move container or movable of standardizing in channel support frame Bracket reduces row of channels or arranges the blocking in channel, improves channel utilization index, and command content includes the transport where target item Point position and transportation terminal position and optional intermediate path；Shipping point of origin position and transportation terminal position are a certain channels Place other than the position of support frame or shelf；The unloaded automatically guiding trolley for receiving outbound carrying instruction is advanced automatically, in S804 The space request for utilization for entering the n cell in front is submitted to management terminal, n is integer greater than 0 herein, usually 1 or 2, After S806 obtains management terminal confirmation, travelled in S808 along given row of channels, column channel, row tunnel or column tunnel, forward Mobile n cell, and switch direction of advance as needed, so-called switching direction of advance refer to line direction and column direction it Between switch；By repeating S804-S808, until S810 navigates to designated position, and execute S812 movement, at this time if it is Outbound instruction starting point moves bit instruction starting point, i.e., position is in shipping point of origin position channel support frame to automatically guiding trolley at this time Below the article of middle stop, automatically guiding trolley rises being docked by fixed part for fixed part and normalization container or movable bracket, Normalization container or movable bracket are held up, at this time if it is in warehouse-in instruction terminal or bit instruction terminal is moved, then drawn automatically It leads trolley and falls fixed part, normalization container is rested on the supporting element of channel support frame, or movable bracket is rested in ground On face, instruct terminal or warehouse-in instruction starting point if it is in outbound, usually at sorting work station, then automatically guiding trolley according to The requirement at sorting work station executes relevant action；Judge that currently assigned position is start position or final position in S814, such as Fruit is start position, then also needs again since S804, automatically proceeds to carry final position, if it is final position then table Bright carrying instruction has been completed, and automatically guiding trolley continues to execute next carrying instruction, or to be handled into standby mode etc. Instruction, or return to specified region.In general, executing and moving the automatically guiding trolley of bit instruction is unloaded trolley, but can also First to be stopped articles carried by the trolley for being loaded with article, then executes and move bit instruction, the article that then will be stopped before again It lifts and continues to execute original task.

It should be pointed out that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not intended to limit the invention, it is all Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention Within the scope of shield.

Claims

1. a kind of unmanned warehousing system, it is characterised in that: the article being placed on shelf is taken out and is transported to sorting by realization Outbound is completed in place, or article is transported to the shelf and is stored to completion on the shelf from sorting place and is put in storage, comprising:

At least one described shelf, front can pick and place article；

At least one normalization container, for storing scattered article；

An at least automatically guiding trolley, for transporting the normalization container to specified position；

At least high equipment of heap, can pick and place the article on the shelf, contain the normalization container；And

Management terminal carries out carrying instruction to the automatically guiding trolley and the high equipment of the heap；

The unmanned warehousing system is characterized in that；

The shelf include

Multilayer shelf contains the normalization container for storing article；And

At least one channel support frame is arranged below the multilayer shelf and fixes on the ground, and the channel support frame is First kind channel support frame, Second Type channel support frame or third channel type support frame；

The first kind channel support frame includes multiple columns and at least two supporting elements being fixed on the column, can To provide caching space for the normalization container, one is formed between the supporting element in the horizontal direction with the shelf just Face is parallel and gap in the ranks that run through the shelf；

The Second Type channel support frame include multiple columns and at least two be fixed on it is described on the column Supporting element can provide the caching space for the normalization container, form one in the horizontal direction between the supporting element Item and the column gap shelf front vertical and through the shelf；

The third channel type support frame include multiple columns and at least four be fixed on it is described on the column Supporting element can provide the caching space for the normalization container, form one in the horizontal direction between the supporting element Item and the gap in the ranks and one and the shelf front vertical shelf frontoparallel and through the shelf And run through the shelf the column gap；

The normalization container, comprising:

Storing portion, for accommodating scattered articles；

At least two stop portions are distributed in the periphery of the normalization container side or bottom surface, for resting in one from the top down On the supporting element on an interspace both sides and holding position in a channel support frame；And

By the fixed part, for being docked with the fixed part of the automatically guiding trolley；

The normalization container overall dimension is less than the interior space dimension of the channel support frame, can move horizontally into The channel support frame neutralization is removed from the channel support frame；

The automatically guiding trolley, with driving portion, control unit and one can automatic lifting the fixed part；The control Portion processed travels the automatically guiding trolley by the driving portion；The control unit makes the support by going up and down the fixed part Act portion is docked or is separated by the fixed part with the normalization container, realizes the promotion of the normalization container or falls Under；

The high equipment of heap, including the driving portion, the control unit, hoistable platform and gripper components, the control unit are logical Crossing the driving portion moves the high equipment of the heap between the shelf and is directed at the positive designated position of the shelf, passes through The hoistable platform makes the gripper components be directed at the specified altitude assignment of the shelf, protrudes into the shelf by the gripper components Shelf and the channel support frame to grab and place article.

2. a kind of unmanned warehousing system according to claim 1, it is characterised in that:

The quantity of the shelf is greater than 1, and it is described that the shelf composition, which includes the shelf row set of several shelf rows, Automatically guiding trolley and the high equipment of the heap provide the caching space for placing the normalization container, and the shelf row is the The combination of shelf row described in one type shelf row, Second Type shelf row, third type shelf row or above-mentioned three types；

The first kind shelf row refer to by by multiple shelf with the first kind channel support frame and Optionally there are quantity the shelf of the third channel type support frame to carry out a kind of goods that lateral connection is combined into Frame row；

The Second Type shelf row is by by multiple shelf and quantity with the Second Type channel support frame Optionally the shelf with the third channel type support frame carry out a kind of shelf row that lateral connection is combined into；

The third type shelf row is horizontal by carrying out multiple shelf with the third channel type support frame A kind of shelf row being combined into connection；

In the shelf row of the three types, the first kind shelf row and the third type shelf row can be load The automatically guiding trolley of the normalization container row of channels that travels below the shelf, the Second Type are provided Shelf row and the third type shelf row can provide to carry the automatically guiding trolley of the normalization container in institute State the column channel travelled below shelf.

3. a kind of unmanned warehousing system according to claim 2, it is characterised in that:

The shelf row is combined with heap high row tunnel composition shelf tunnel；The shelf tunnel combination is first kind shelf tunnel Combination or the combination of Second Type shelf tunnel；The combination of first kind shelf tunnel is by by two shelf row faces Opposite is placed in parallel and stays the heap high row tunnel for allowing the high equipment of heap to pass through among two shelf rows And form, the gripper components of the high equipment of heap have the shelf and the channel support frame from shelf described in two sides The ability of middle crawl and placement article；The combination of Second Type shelf tunnel is by beside a shelf row front Stay one allow the high equipment of heap by heap high row tunnel form, the gripper components tool of the high equipment of heap There is the ability that article is grabbed and placed from the shelf and the channel support frame of shelf described in side.

4. a kind of unmanned warehousing system according to claim 3, it is characterised in that:

The channel support frame below two shelf rows in the combination of first kind shelf tunnel is described second Channel type support frame or the third channel type support frame, described two described shelf rows or so alignment, so that described logical Heap high row lane space composition one between the column gap and the shelf row on road support frame, which can allow, to be carried The column channel that the automatically guiding trolley straight line of the normalization container passes through the entire shelf tunnel combination.

5. a kind of unmanned warehousing system, it is characterised in that:

The article being placed on the shelf is taken out and is transported to sorting place by realization, or article is transported to from sorting place The shelf are simultaneously stored onto the shelf, comprising:

Several described shelf, front can pick and place article；

At least one movable bracket, for caching article；

An at least automatically guiding trolley, for pallet for transporting to specified position；

At least high equipment of heap can pick and place the article on the shelf and on the bracket；And

The management terminal carries out carrying instruction to the automatically guiding trolley and the high equipment of the heap；The unmanned storage System is characterized in that；

The shelf have the multilayer shelf and at least one described channel support frame, and the channel support frame is arranged in institute It states below multilayer shelf and fixes on the ground, the channel support frame includes multiple columns,

The movable bracket, comprising:

The storing portion is located at the bracket upper half, for accommodating article；

Support portion is distributed in periphery below the storing portion, the storing portion can be supported with ground face contact；And

By the fixed part, for being detachably connected to the interconnecting piece of the automatically guiding trolley；

The movable bracket overall dimension is less than the channel support frame interior space dimension, can move horizontally into described The neutralization of channel support frame is removed from the channel support frame, and the contact by the support portion with ground is realized in the channel Simultaneously holding position is stopped inside support frame；

The automatically guiding trolley, with the driving portion, the control unit and one can the described of automatic lifting lift Portion；The control unit travels the automatically guiding trolley by the driving portion；The control unit described in lifting by lifting Portion makes releasably being docked or separated by the fixed part for the fixed part and the movable bracket, realizes described movable The promotion of bracket is fallen；

The high equipment of heap, including the driving portion, the control unit, the hoistable platform and the gripper components, it is described Control unit move the high equipment of the heap between the shelf by the driving portion and be aligned the shelf front it is specified Position makes the gripper components be directed at the specified altitude assignment of the shelf, is stretched by the gripper components by the hoistable platform Enter the inside crawl of the shelf and the channel support frame of the shelf and places article；

The shelf lateral connection forms several shelf rows, and the shelf row and heap high row tunnel form the goods The combination of frame tunnel, the shelf tunnel combination are the combination of first kind shelf tunnel or Second Type shelf tunnel Combination；The combination of first kind shelf tunnel is by being placed in parallel two shelf rows face-to-face and described in two Stayed among shelf row one allow the high equipment of heap by heap high row tunnel form, the high equipment of heap it is described Gripper components have the ability that article is grabbed and placed from the shelf and the channel support frame of shelf described in two sides；Institute Stating the combination of Second Type shelf tunnel is to allow the high equipment of heap logical by staying one beside a shelf row front The heap high row tunnel crossed and form, the gripper components of the high equipment of heap have from putting described in shelf described in side The ability of article is grabbed and placed in frame and the channel support frame；Channel support frame four sides below the shelf row is passed through It is logical, it provides to carry the automatically guiding trolley of the normalization container and drives through the entire goods below the shelf The row of channels of frame tunnel combination and the column channel.

6. a kind of unmanned warehousing system goes out storage method, using the unmanned warehousing system any in claim 1-5, It is characterized by:

The high equipment of the heap and the automatically guiding trolley in the unmanned warehousing system are received and are executed from the pipe Manage the carrying instruction of terminal；

The high equipment of heap receives the carrying instruction from the management terminal, heap high start position and heap including target item The information in high final position, heap high start position and the high final position of the heap includes the position that the shelf are expert in tunnel It sets and position that target item is placed on the shelf and the channel support frame, the high equipment of heap automatically proceeds to institute It states the shelf of heap high start position and is aligned, the gripper components are made by hoistable platform movement and be placed on described Target item alignment on shelf or the channel support frame, is drawn off, then automatically proceeds to the high terminal of the heap again The shelf of position are simultaneously aligned, and make the gripper components and the high final position pair of the heap by hoistable platform movement Target item is placed on the corresponding shelf or in the channel support frame by standard；

The automatically guiding trolley receives the carrying instruction from the management terminal, and the type for carrying instruction includes at least Outbound instruction and warehouse-in instruction, command content includes the shipping point of origin position and transportation terminal position where target item, described Shipping point of origin position and transportation terminal position be a certain channel support frame position or the shelf other than place；It receives out The unloaded automatically guiding trolley that instruction is carried in library advances along specified path, by the row of channels, the column channel, described Row tunnel or column tunnel drive to below the article stopped in the channel support frame described in shipping point of origin position, then described in rise Fixed part is docked with the normalization container or the movable bracket by the fixed part, by the normalization container or described Movable bracket is held up, and then the automatically guiding trolley carries the normalization container or the movable bracket along unplugged The row of channels or the column channel drive to place other than the shelf and complete outbound；

It receives storage and carries the automatically guiding trolley for carrying the normalization container or the movable bracket of instruction from institute It states the shipping point of origin position other than shelf to drive near the corresponding shelf in transportation terminal position, and along the row of channels Or the column channel drives in the corresponding channel support frame in transportation terminal position, falling the fixed part makes the specification Change container or the movable bracket rests in and completes storage in the channel support frame；It completes to carry the automatic guidance instructed Trolley waits in situ, continues to execute the next carrying received instruction or return to specified region.

7. a kind of unmanned warehousing system according to claim 6 goes out storage method, it is characterised in that: the automatic guidance Trolley from the received carrying instruction type of the management terminal further include moving bit instruction, for reducing the row of channels or the column The blocking in channel improves channel utilization index；It receives and moves the unloaded automatically guiding trolley that instruction is carried in position, along given described Row of channels or the column channel drive to below the article stopped in the channel support frame described in shipping point of origin position, then rise The fixed part is docked with the normalization container or the movable bracket by the fixed part, by the normalization container or The movable bracket is held up, and then the automatically guiding trolley carries the normalization container or the movable bracket drives to it The normalization container is rested in the new caching space and completes to move by the transport heavy point position in its described channel support frame Position；The automatically guiding trolley for completing to carry instruction waits in situ, continue to execute next carrying received instruction or Return to specified region.

8. a kind of unmanned warehousing system according to claim 6 goes out storage method, it is characterised in that: the automatic guidance Trolley and the high equipment of the heap use the space of the channel support frame by pre-registering mechanism timesharing；In the high equipment of the heap The gripper components need to protrude into before the channel support frame, the high equipment of heap will need the channel support that stops Rack position information and initial time submit space request for utilization to the management terminal in advance, after obtaining the management terminal confirmation It executes；When the automatically guiding trolley for carrying the normalization container or the movable bracket travels i.e. along the row of channels When will enter the next channel support frame in front, space will be submitted in advance by the initial time of the channel support frame The management terminal is given in request for utilization, is executed after obtaining the management terminal confirmation；The management terminal is to the space submitted Request for utilization is that unit is analyzed by the channel support frame, when space interference and temporal interference does not occur, will confirm that letter Breath is sent to the high equipment of the heap or the automatically guiding trolley, when there is interference, will confirm that information is sent to priority height Equipment, while sending confirmation message will the corresponding channel support it is aerial between be labeled as predetermined occupied state；It is described Automatically guiding trolley and the high equipment of the heap submit Free up Memory application when leaving the channel support frame.

9. a kind of unmanned warehousing system according to claim 6 goes out storage method, it is characterised in that: the automatic guidance Trolley and the high equipment of the heap by login mechanism timesharing using the shelf tunnel combine in the heap high row lane space； The high equipment of heap will need the heap high row lane space location information, initial time and the end time passing through and stop to mention The management terminal is given in premise Crosslinking Mechanisms request for utilization, is executed after obtaining the management terminal confirmation；When it is described guide automatically it is small Vehicle along it is described column channel traveling prepare by forklift traveling the row tunnel before, will by heap high row tunnel with And heap high row tunnel submits space request for utilization to the management terminal initial time of space of planes in advance；The management Terminal analyzes the request for utilization in two sections of connected spaces that the automatically guiding trolley is submitted respectively, when two sections of spaces all It when space interference and temporal interference not occurring, will confirm that information is sent to the automatically guiding trolley, sending confirmation message It is simultaneously predetermined occupied state by corresponding two sections of free tokens；The automatically guiding trolley and the high equipment of the heap are leaving one Free up Memory application is submitted when a above-mentioned space.