CN116198898B - Warehouse for storing goods - Google Patents
Warehouse for storing goods Download PDFInfo
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- CN116198898B CN116198898B CN202310430302.1A CN202310430302A CN116198898B CN 116198898 B CN116198898 B CN 116198898B CN 202310430302 A CN202310430302 A CN 202310430302A CN 116198898 B CN116198898 B CN 116198898B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present disclosure provides a warehouse for storing goods. The warehouse comprises a goods inlet and a goods outlet, wherein a plurality of goods shelf layers are arranged in the warehouse, and each goods shelf layer is provided with a parent car channel and a plurality of child car channels; each goods shelf layer is provided with a primary-secondary shuttle, each primary-secondary shuttle comprises a secondary vehicle and a primary vehicle, a primary vehicle channel and a plurality of secondary vehicle channels of each goods shelf layer divide the goods shelf layer into a plurality of goods shelf areas, each goods shelf area comprises a plurality of goods channels, each goods channel comprises a plurality of goods places, both sides of the plurality of goods shelf layers are provided with lifting machines, each group of goods stored in the warehouse is provided with a tray for bearing the group of goods, and the tray bearing the goods is transported to the corresponding goods places by the secondary vehicle for storage or is transported from the goods places by the secondary vehicle; each sub-vehicle is provided with a sensor for measuring the deflection of each tray; the pallets carrying goods are provided with labels, and the labels of each pallet are used for representing the goods information carried by the pallet.
Description
Technical Field
The present disclosure relates to the technical field of logistics warehouses, in particular, warehouses for storing goods.
Background
A warehouse is a basic configuration in the field of logistics, and includes an area for storing goods, a transportation facility, and the like. In order to fully utilize the stereoscopic space of the warehouse, the goods shelves for placing goods in the warehouse comprise a plurality of layers, so that the upper-layer space of the warehouse can be fully utilized. At present, one of the most common warehouses is a stacker stereoscopic warehouse, namely, a transport facility in the warehouse comprises a stacker, the stacker can grab and carry goods in the warehouse, and a fork on the stacker can move up and down, so that the goods can be fetched and placed on a high-rise goods shelf.
Disclosure of Invention
In view of the foregoing, the present disclosure provides a warehouse for storing goods. In the warehouse, the cargo storage efficiency is improved through the primary and secondary shuttle. In addition, each group of goods is carried by only one tray, and the cost can be reduced while the weight of each group of goods is reduced.
According to one aspect of the present disclosure, there is provided a warehouse for storing goods, comprising at least one goods inlet and at least one goods outlet, a plurality of shelf layers being provided in the warehouse, each shelf layer being configured with one parent-vehicle aisle and a plurality of child-vehicle aisles perpendicular to the extension direction of the parent-vehicle aisle; each shelf layer is configured with a primary-secondary shuttle, each primary-secondary shuttle comprises a primary vehicle and a secondary vehicle, the secondary vehicles in each shelf layer carry the secondary vehicles to move on a primary vehicle channel in the shelf layer, the secondary vehicles in each shelf layer are configured to move on the secondary vehicle channels in the shelf layer after being separated from the corresponding primary vehicles, the primary vehicle channel and the multiple secondary vehicle channels of each shelf layer divide the shelf layer into multiple shelf areas, each shelf area comprises multiple goods channels, the extending direction of each goods channel is perpendicular to the extending direction of the adjacent secondary vehicle channels, each goods channel comprises multiple goods positions, each goods position included in each goods channel is arranged in sequence in the extending direction of the goods channel, the two sides of each goods channel are configured with a lifting machine, the lifting machine is configured to move up and down to reach each shelf layer, the up and down moving track of the lifting machine is connected with the primary vehicle channel configured by each shelf layer, each group of goods stored in the warehouse is configured with a tray for bearing the group of goods, the trays bearing the goods are correspondingly transported from the goods positions to the trays or the goods positions; each sub-vehicle is provided with a sensor for measuring the deflection of each tray; the pallets carrying goods are provided with labels, and the labels of each pallet are used for representing the goods information carried by the pallet.
Drawings
A further understanding of the nature and advantages of the present disclosure may be realized by reference to the following drawings. In the drawings, similar components or features may have the same reference numerals.
Fig. 1 illustrates a top view of one example of a warehouse for storing goods provided in accordance with the present disclosure.
Fig. 2 illustrates a side view of one example of a warehouse for storing goods provided in accordance with the present disclosure.
Fig. 3 shows a schematic diagram of one example of a primary and secondary shuttle according to the present disclosure.
Fig. 4 shows a schematic view of one example of goods placed on a pallet according to the present disclosure.
Fig. 5 shows a schematic diagram of one example of a pallet deformation carrying goods according to the present disclosure.
Fig. 6 shows a schematic diagram of one example of a laser exit direction angle of a laser ranging sensor according to the present disclosure.
Fig. 7 illustrates a schematic diagram of one example of whole pallet movement according to the present disclosure.
Fig. 8 illustrates a flow chart of another example of a transfer of cargo according to the present disclosure.
Fig. 9 shows a schematic diagram of another example of cargo transfer according to the present disclosure.
Fig. 10 shows a schematic diagram of another example of cargo transfer according to the present disclosure.
Detailed Description
The subject matter described herein will be discussed below with reference to example embodiments. It should be appreciated that these embodiments are discussed only to enable a person skilled in the art to better understand and thereby practice the subject matter described herein, and are not limiting of the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements discussed without departing from the scope of the disclosure. Various examples may omit, replace, or add various procedures or components as desired. In addition, features described with respect to some examples may be combined in other examples as well.
As used herein, the term "comprising" and variations thereof mean open-ended terms, meaning "including, but not limited to. The term "based on" means "based at least in part on". The terms "one embodiment" and "an embodiment" mean "at least one embodiment. The term "another embodiment" means "at least one other embodiment". The terms "first," "second," and the like, may refer to different or the same object. Other definitions, whether explicit or implicit, may be included below. Unless the context clearly indicates otherwise, the definition of a term is consistent throughout this specification.
A warehouse is a basic configuration in the field of logistics, and includes an area for storing goods, a transportation facility, and the like. In order to fully utilize the stereoscopic space of the warehouse, the goods shelves for placing goods in the warehouse comprise a plurality of layers, so that the upper-layer space of the warehouse can be fully utilized. At present, one of the most common warehouses is a stacker stereoscopic warehouse, namely, a transport facility in the warehouse comprises a stacker, the stacker can grab and carry goods in the warehouse, and a fork on the stacker can move up and down, so that the goods can be fetched and placed on a high-rise goods shelf. However, the efficiency of transporting goods using a stacker in a stacker stereoscopic warehouse is low.
In particular, in the chemical industry, warehouses for storing goods are designed according to product sizes and types to achieve high utilization of area and space. By adopting the design of the high-efficiency shuttle access system, each layer of independent access and high-efficiency accessibility of each roadway can still be realized under the high-density storage state. In addition, the high-density storage shelf, the shuttle structure and the product access characteristics are combined to perform operation steps such as warehousing, ex-warehouse, inventory management and the like, so that the intelligent control of the whole flow of receiving and dispatching stock and the transparent management of real-time data are realized. The automatic loading and unloading system and the warehouse management system are in seamless butt joint through the automatic transmission equipment such as the transport vehicle system, the platform system, the conveyor, the shuttle car and the like, so that full-automatic operation of loading and unloading from a warehouse is realized.
In view of the foregoing, the present disclosure provides a warehouse for storing goods. The warehouse comprises at least one goods inlet and at least one goods outlet, a plurality of goods shelf layers are arranged in the warehouse, and each goods shelf layer is provided with a bus channel and a plurality of sub-bus channels in the direction perpendicular to the bus channel; a master car channel and a plurality of slave car channels of each goods shelf layer divide the goods shelf layer into a plurality of goods shelf areas, each goods shelf area comprises a plurality of goods channels, the extending direction of each goods channel is perpendicular to the extending direction of the adjacent slave car channel, each goods channel comprises a plurality of goods positions, each goods position in each goods channel is arranged in sequence in the extending direction of the goods channel, a lifting machine is arranged on two sides of each goods shelf layer, which are adjacent to a goods inlet and a goods outlet, the lifting machine is configured to move up and down to reach each goods shelf layer, the up and down moving track of the lifting machine is connected with the master car channel configured by each goods shelf layer, each goods shelf layer is configured with a slave-master shuttle, each slave-master-shuttle comprises a slave car and a master car, the slave car in each goods shelf layer carries the slave car to move on the master car channel in the goods shelf layer, the slave car in each goods shelf layer is configured to move on the slave car channel in the goods shelf layer after being separated from the corresponding master car, each group of goods stored in the warehouse is configured with a pallet for carrying the goods, or carrying the goods from the goods pallet to the corresponding goods position; the pallets carrying goods are provided with labels, and the labels of each pallet are used for representing the goods information carried by the pallet. Through the warehouse of this disclosure, improve goods storage efficiency through primary and secondary shuttle. In addition, each group of goods is carried by only one tray, and the cost can be reduced while the weight of each group of goods is reduced.
A warehouse for storing goods provided by the present disclosure is described in detail below with reference to the accompanying drawings.
Fig. 1 illustrates a top view of one example of a warehouse for storing goods provided in accordance with the present disclosure.
As shown in fig. 1, the warehouse may include at least one inlet port 110 and at least one outlet port 120, and the warehouse shown in fig. 1 is configured with one inlet port 110 and one outlet port 120 as just one example. A plurality of goods shelf layers can be arranged in the warehouse, and goods can be placed on each goods shelf layer. Therefore, the high-rise space in the warehouse can be fully utilized, high-density storage is realized, and the utilization rate of the warehouse is improved. Fig. 2 illustrates a side view of one example of a warehouse for storing goods provided in accordance with the present disclosure. As shown in fig. 2, a plurality of shelf layers are disposed at both sides of the elevator 180. In one example, 11 shelf layers may be provided in a warehouse.
Fig. 1 shows a layout of one shelf level within a warehouse. In the present disclosure, each shelf layer may operate independently, and the layout and arrangement of each shelf layer may be the same. As shown in fig. 1, each shelf layer may be configured with one parent lane 130 and a plurality of child lanes 140 perpendicular to the extension direction of the parent lane 130. In one example, the parent lane 130 may extend throughout the entire shelf layer, and the parent lane 130 may extend in a direction that coincides with the warehouse access direction, which is the direction from the warehouse entrance 110 to the exit 120. Each sub-cart channel 140 may extend from the parent cart channel 130 to the shelf layer edge.
In the present disclosure, each shelf layer is configured with a primary-secondary shuttle, each primary-secondary shuttle including a primary vehicle and a secondary vehicle. The sub-cart may be used to load cargo. Fig. 3 shows a schematic diagram of one example of a primary and secondary shuttle according to the present disclosure. As shown in fig. 3, the primary-secondary shuttle 300 includes a primary vehicle 310 and a secondary vehicle 320, and the secondary vehicle 320 may be located on the primary vehicle 310, so that the primary vehicle 310 may move together with the secondary vehicle 320. In addition, the parent vehicle 310 may be separated from the child vehicle 320, and the separated child vehicle 320 may be moved.
In the present disclosure, a parent truck 310 in each shelf level may carry a child truck to move on a parent truck aisle 130 in the shelf level, and a child truck 320 in each shelf level may be configured to move on a child truck aisle 140 in the shelf level after being separated from the corresponding parent truck 310. In one example, a parent vehicle 310 carries a child vehicle 320 that moves over a parent vehicle aisle 130, and when the parent vehicle stops at the entrance of one child vehicle aisle 140, the child vehicle 320 may be separated from the parent vehicle 310 and then the child vehicle 320 moves over that child vehicle aisle 140.
In the present disclosure, the parent lane 130 and the plurality of child lanes 140 of each shelf level divide the shelf level into a plurality of shelf areas 150. Taking fig. 1 as an example, the shelf layer is divided into 8 shelf areas 150 by parent lane 130 and each child lane 140. Each shelf region 150 may include a plurality of cargo lanes 160, with each cargo lane 160 extending in a direction perpendicular to the direction of extension of an adjacent sub-cart lane 140, as shown in fig. 1, with the cargo lane 160 extending in a direction perpendicular to the direction of extension of the sub-cart lane 140. Each cargo lane 160 may include a plurality of cargo positions 170, with each cargo lane 160 including respective cargo positions 170 that are aligned in the direction of extension of the cargo lane 160. Taking fig. 1 as an example, each cargo aisle 160 includes four cargo bays 170, and the four cargo bays 170 are arranged in sequence.
In the present disclosure, a plurality of pallet layers may be provided on both sides with lifts 180. In one example, lifts 180 are provided on both sides of the plurality of shelf layers adjacent to the access opening 110 and the delivery opening 120, respectively. The elevator 180 may be moved up and down to reach the various shelf levels. The up-and-down movement track of the elevator 180 is engaged with the parent car lane 130 configured for each shelf level. With this engagement, the goods to be stored can be delivered by the hoist 180 to the primary and secondary shuttles 300 on the primary lane 130, and the goods to be discharged can be delivered by the primary and secondary shuttles 300 on the primary lane 130 to the hoist 180.
In one example of storage of goods, the goods to be stored enter the warehouse from the mouth 110 and then the goods are transported to the elevator 180, which elevator 180 may transport the goods to a designated shelf level (e.g., 11 levels). After the elevator 180 reaches the designated shelf level, the elevator 180 delivers the cargo to the primary and secondary shuttles 300 on the primary lane 130, the primary and secondary shuttles 300 move with the cargo to the entrance of the designated secondary lane 140, the loaded secondary truck 320 is separated from the primary truck 310, moves to the designated cargo lane 160 on the designated secondary lane 140, and unloads the cargo to the cargo space 170 of the cargo lane 160.
In one example of shipment of goods, the sub-cart 320 grabs the goods to be shipped from the designated cargo space 170 and then the sub-cart 320 carrying the goods moves over the sub-cart channel 140 to the entrance where the parent cart 310 waits. The child car 320 carrying the goods is combined with the mother car 310 to form a child-mother shuttle 300, and the child-mother shuttle 300 moves to the elevator 180 at a side close to the delivery port 120 on the mother car aisle 130 and delivers the goods to the elevator 180, and after the elevator 180 transports the goods to the bottom layer, the goods are transported to the delivery port 120 again.
In the present disclosure, each set of goods stored in the warehouse may be configured with a tray for carrying the set of goods, the goods being placed on the tray. Fig. 4 shows a schematic diagram of one example of goods placed on a tray 400 according to the present disclosure. As shown in fig. 4, a group of goods is placed on the pallet 400, and the group of goods is transported and stored in a warehouse as a whole with the pallet 400.
Each tray may be associated with a label that is used to characterize information about the goods carried by the tray, such as the name and lot number of the goods. In one example, in a warehouse, the goods, pallets, and tags on the pallets are in a one-to-one correspondence. During the transportation of goods in the warehouse, the goods are placed on corresponding pallets to be transported together. When the goods are stored at the cargo space, the goods are placed at the cargo space together with the corresponding pallets. For example, pallets carrying goods are transported by the sub-vehicles to the corresponding goods locations for storage, or are transported by the sub-vehicles from the goods locations. When the sub-vehicle transports goods, the goods are placed on the tray, and the tray is placed on the sub-vehicle. In one example, the trays may be made of wood, i.e. the trays used are wood trays.
In the present disclosure, only one pallet is used for each group of goods, compared with the case that two pallets are required to be used simultaneously in the conventional goods carrying mode, the usage amount of the pallets is reduced, thereby reducing the cost.
In the present disclosure, only one pallet is used for the goods at a time, and each pallet needs to bear the weight of the goods. When goods are placed on the tray, the weight of the goods can cause the tray to deform to a certain extent, and the deformation of the tray can be represented by deflection. In addition, when the pallet (e.g., wood pallet) is subjected to humidity, a certain deformation may be generated, and the deformation of the pallet may be expressed in terms of deflection. Deflection here is the displacement of the surface center of the pallet in the vertical direction when the surface of the pallet is subjected to force or humidity. Fig. 5 shows a schematic diagram of one example of a pallet deformation carrying goods according to the present disclosure. As shown in fig. 5, L represents the deflection of the tray after deformation.
In order to avoid the situation that the deflection of the deformed tray is too large to cause the lower surface of the tray to be in contact with the plane where the tray is located, the gap between the lower surface of the tray and the plane where the tray is located can be increased, so that the deflection of the deformed tray is smaller than the gap.
In one example, the average deflection of the tray as it deforms may be determined from historical data. For example, the average deflection may be an acceptable maximum deflection, such as by querying historical data for deflection of each tray as it deforms, and then determining an acceptable maximum deflection based on each deflection queried, e.g., 95% of the trays will not exceed the acceptable maximum deflection during use. The acceptable maximum deflection can then be determined as the increased gap required for the tray. For example, the tray requires an increased gap of 25mm. In one example, the gap can be increased over a conventional pallet to compensate for deflection when the pallet is deformed. It will be appreciated that conventional trays may be made of rigid materials such as engineering plastics that are not easily deformable and are not sensitive to humidity. For example, a 25mm gap may be added to a conventional tray to provide a tray for use in the present disclosure.
In one example, the gap between the lower surface of each tray and the plane in which the tray is located may be determined based on at least one of the following factors: humidity of the location of the warehouse, and the type of goods stored in the warehouse. For example, when the plane in which the tray is located is the ground, the determined gap is the gap between the lower surface of the tray and the ground. When the plane in which the tray is located is the upper surface of the sub-cart, the determined gap is the gap between the lower surface of the tray and the upper surface of the sub-cart.
In this example, when the pallet is a wooden pallet, the deformation of the wooden pallet is affected by humidity. The greater the humidity of the warehouse location, the greater the deformation of the tray, i.e., the greater the deflection of the tray. The lower the humidity of the warehouse location, the less the deformation of the tray, i.e. the less the deflection of the tray. In addition, when the type of goods stored in the warehouse belongs to the type of goods with larger mass, the deflection generated by the deformation of the tray is larger. When the goods type stored in the warehouse belongs to the goods type with smaller mass, the deflection generated by the deformation of the tray is smaller.
When the deflection generated by the deformation of the tray is larger, the larger the corresponding gap of the tray can be determined; when the deflection generated by the deformation of the tray is smaller, the smaller the corresponding gap of the tray can be determined. After the corresponding gap of the tray is determined, the tray may be designed according to the determined gap.
In one example, the useful life of the tray may be determined from the deflection created by the deformation of the tray. The smaller the deflection generated by the deformation of the tray, the longer the service life of the tray. The greater the deflection produced by the deformation of the tray, the shorter the service life of the tray. When the deflection generated by the deformation of the tray reaches or exceeds a certain threshold value, the tray can be eliminated.
In one example, the correspondence of deflection to the manner in which the tray is handled may be preset. In one example, two deflection thresholds may be preset: a first deflection threshold and a second deflection threshold. When the deflection generated by the deformation of the tray is smaller than or equal to the first deflection threshold value, the tray can be continuously used; when the deflection generated by the deformation of the tray is larger than the first deflection threshold and smaller than or equal to the second deflection threshold, the tray is indicated to be in a state of being nearly eliminated, the tray can be directly eliminated by the processing mode, the tray can be continuously used, and the monitoring of the tray is enhanced. When the deflection generated by the deformation of the tray is larger than the second deflection threshold value, the tray can be directly eliminated.
For example, the first deflection threshold is 20mm and the second deflection threshold is 25mm. When the deflection generated by the deformation of the tray is less than or equal to 20mm, the tray can be continuously used; when the deflection generated by the deformation of the tray is more than 20mm and less than or equal to 25mm, the tray is in a state of being close to the elimination; when the deflection generated by the deformation of the tray is larger than 25mm, the tray can be directly eliminated.
In one way of measuring the deflection of the trays, a sensor for measuring the deflection of the respective tray may be provided on each sub-vehicle. In one measurement scenario, a sub-vehicle may utilize sensors mounted on the sub-vehicle to measure the deflection of individual pallets placed on the cargo space when the task of handling the cargo is not being performed. In this scenario, the sub-vehicle may move on the sub-vehicle tunnel, and in one example, the sub-vehicle may move in a uniform motion. During the movement, sensors on the sub-carts measure the deflection of the pallet on the cargo space. In one example, the sensor may measure deflection of all pallets placed on each cargo space, and may also measure deflection of a portion of the pallets. For example, the sensor may only measure trays on cargo space adjacent to the aisle of the sub-cart.
In one example, the sensors mounted on the sub-vehicle may include a laser ranging sensor that may measure a distance between a measurement point of the lower surface of the tray and the laser ranging sensor. The measuring area of each tray measured by the laser ranging sensor is a circular area on the lower surface of the tray, which takes the center of the tray as the center and takes the designated length as the radius. For example, if the specified length is 2cm, the measurement area is a circular area with the center of the tray as the center and the radius of 2 cm. In this measurement area, the optimal measurement position point of the laser ranging sensor is the center point of the lower surface of the tray. Further, in this measurement region, the heights of the respective points in the vertical direction are not greatly different, and the error is within a specified error range, so that the deflection as a tray can be measured with the respective points as measurement points.
In one way of measuring deflection, the laser ranging sensor may measure a measured distance from one measurement point in a measurement area of the lower surface of the tray to the laser ranging sensor. In addition, when the sub-car moves on the sub-car channel, the laser ranging sensor always moves on the same horizontal plane, and when the laser ranging sensor measures, a vertical position point which is right below a measuring point and is on the same horizontal plane with the laser ranging sensor can be determined, and a connecting line of the vertical position point and the measuring point is vertical to the horizontal plane where the laser ranging sensor is located. Thus, when the laser ranging sensor performs measurement, the horizontal distance between the laser ranging sensor and the vertical position point is fixed. After the measurement distance and the horizontal distance are determined, the distance of the connecting line between the vertical position point and the measurement point can be calculated according to the Pythagorean theorem. In addition, when the undeformed tray is placed on the cargo space, the height from the lower surface of the tray to the plane in which the tray is located is determined, so that the height distance from the lower surface of the undeformed tray to the horizontal plane in which the laser ranging sensor is located is fixed. Based on the above, the calculated distance of the connecting line can be subtracted from the height distance to obtain the deflection corresponding to the point measured by the laser ranging sensor.
In one example, each sub-cart may move through a cargo aisle corresponding to each sub-cart aisle during uniform movement of the sub-cart over the sub-cart aisle. When a sub-vehicle passes through a cargo aisle, sensors configured on the sub-vehicle may measure deflection of a measurement area of a pallet placed on each cargo location in the cargo aisle.
In one example, the laser ranging sensor on the sub-truck only performs deflection measurements on pallets on one of the cargo lanes, e.g., the laser ranging sensor on the sub-truck only performs deflection measurements on pallets on cargo lanes closest to the corresponding sub-truck lane. Taking fig. 1 as an example, when a sub-vehicle moves on a sub-vehicle channel at the leftmost upper side, and the area corresponding to the sub-vehicle channel is a shelf area at the leftmost upper side, a sensor on the sub-vehicle only performs deflection measurement on a pallet at the rightmost cargo space in each cargo channel.
In this example, the position of the laser ranging sensor configured on the sub-vehicle and the orientation of the outgoing laser light may remain unchanged, the laser light emitted by the laser ranging sensor needs to fall on the measurement area of the pallet on the targeted cargo space.
In another example, each of the sub-vehicles moves within a specified angular range in the vertical direction during movement through each of the cargo lanes by laser light emitted from a laser ranging sensor disposed on the sub-vehicle. The vertical direction in the present disclosure is a direction perpendicular to a horizontal plane. The specified angle range may include a first angle having a largest included angle with the vertical downward direction and a second angle having a smallest included angle with the vertical downward direction, and the specified angle range is a range of the second angle or more and the first angle or less. In the present disclosure, the vertically downward direction may be a direction perpendicular to a horizontal plane, and the sub-car and the parent car may move on the horizontal plane.
When the laser emitted by the laser ranging sensor is at a first angle, the laser emitted by the laser ranging sensor falls in a measuring area of a pallet closest to the laser ranging sensor in a goods channel, namely, the pallet on a goods space closest to a sub-car channel in which the sub-car is located in the goods channel. The laser ranging sensor at this time is used to measure the deflection of the tray in the cargo lane closest to the laser ranging sensor.
Fig. 6 shows a schematic diagram of one example of a laser exit direction angle of a laser ranging sensor according to the present disclosure. As shown in fig. 6, the laser ranging sensor disposed on the sub-vehicle 320 can emit laser beams with different angles, a 1 Represents a first angle, a 2 Representing a second angle. When the laser emitted by the laser ranging sensor is positioned at the first angle a 1 In this case, the laser beam emitted from the laser ranging sensor is located in a measurement area of the pallet on a closest cargo space (leftmost cargo space) in the cargo path to the sub-vehicle path where the sub-vehicle is located. When the laser emitted by the laser ranging sensor is positioned at the second angle a 2 In this case, the laser beam emitted from the laser ranging sensor is located in a measurement area of the pallet on a load location (a rightmost load location) of the load aisle that is farthest from the sub-truck aisle where the sub-truck is located.
When the laser emitted by the laser ranging sensor is at the second angle, the laser emitted by the laser ranging sensor at the moment falls in a measuring area of a pallet at a position of a goods channel farthest from the laser ranging sensor, namely, the pallet at the position of the goods channel farthest from a sub-car channel where the sub-car is located. The laser ranging sensor at this time is used to measure the deflection of the pallet in the cargo path furthest from the laser ranging sensor.
When the laser emitted by the laser ranging sensor moves within a specified angle range, the laser emitted by the laser ranging sensor can fall into a measuring area of the tray on each cargo space in the cargo channel, so that the deflection of the tray on each cargo space in the cargo channel can be measured in the process.
Taking fig. 1 as an example, when a sub-vehicle moves on the sub-vehicle channel at the leftmost position above the sub-vehicle channel and is located at the uppermost position of the sub-vehicle channel, the sub-vehicle correspondingly measures the uppermost cargo channel in the shelf area at the leftmost position above. When the laser emitted by the laser ranging sensor is at a first angle, the laser ranging sensor measures the deflection of the pallet on the rightmost cargo space of the cargo channel. When the laser emitted by the laser ranging sensor is at a second angle, the laser ranging sensor measures the deflection of the tray on the leftmost cargo space of the cargo channel. When the laser emitted by the laser ranging sensor changes from a first angle to a second angle, the laser ranging sensor sequentially measures the deflection of the tray on the rightmost cargo space, the deflection of the tray on the second cargo space in the right-to-left sequence, the deflection of the tray on the third cargo space in the right-to-left sequence and the deflection of the tray on the leftmost cargo space of the cargo channel.
In the disclosure, after the laser ranging sensor measures the deflection of each tray, a preset deflection interval corresponding to the measured deflection can be determined according to the corresponding relation between the preset deflection and the tray processing mode, and the tray processing mode corresponding to the preset deflection interval is determined. And processing the measured tray according to the determined tray processing mode.
In one example, a plurality of conveyors may also be provided in the warehouse that connect corresponding lifts at the warehouse's shipment to crenels for parking vehicles receiving the shipment. In this example, each of the outgoing orders corresponds to a transmitting device, which in one example corresponds to one of the outgoing orders. After the transmission device completes the transmission task of the corresponding delivery order, another delivery order can be allocated to the transmission device. Each transfer device is used for transferring goods corresponding to the out-of-stock order from the outlet of the elevator to the crenels. Through the transmission device, the automation degree of the ex-warehouse process can be further improved, and the ex-warehouse efficiency is improved.
In one example, when whole-pallet goods belonging to the same goods type and the same lot information in one shelf layer are respectively placed in a plurality of goods lanes, and the plurality of goods lanes have empty goods spaces, the sub-vehicle may transfer the whole-pallet goods in one or more goods lanes to the empty goods spaces of another goods lane for storage. After the goods transferring operation, the goods channel for transferring the goods is not stored with the whole goods, or the goods channel for transferring the goods has no free goods space.
In one example, for the plurality of cargo lanes, the sub-vehicle may take a cargo lane with less bulk cargo as a transfer-out cargo lane and a cargo lane with more bulk cargo as a transfer-in cargo lane. Thus, the moving amount of the whole cargo can be reduced on the basis of combining the cargo channels.
Fig. 7 illustrates a schematic diagram of one example of whole pallet movement according to the present disclosure. As shown in fig. 7, each row represents one cargo lane, the leftmost column represents the lane identification of the respective cargo lane, and the respective box in each row represents one cargo space in the cargo lane represented by that row. In the cargo lanes of the lane identifications CA01 and CA03, 2 and 3 whole-pallet cargos of the same cargo type and lot information are stored, respectively. Two whole pallets in the pallet track CA01 can be transferred to the pallet track CA03 for storage. The transferred passage mark CA01 is not stored with the whole-support goods any more and can be used for storing other whole-support goods. The transferred passage mark CA03 stores 5 whole cargoes.
Through the above example, the sub-vehicle can combine the whole-support cargos belonging to the same cargo type and the same batch of information into one or more cargo channels for centralized storage, so that the whole-support cargos in the shelf layer can be conveniently managed in a centralized manner, and more idle cargo channels can be moved for storage of other whole-support cargos.
Fig. 8 illustrates a flow chart of another example 800 of cargo transfer according to the present disclosure.
As shown in fig. 8, for each shelf level, the sub-cart may check whether there are multiple lanes of goods to be transferred in the shelf level that satisfy the goods transfer condition at 810. If so, the operation of 810 is performed; if not, the cargo transferring operation is not processed or completed.
In this example, the cargo transfer conditions may include: the whole cargo belonging to the same cargo type and the same batch of information is respectively placed in a plurality of cargo channels, and the cargo channels are provided with idle cargo positions. For example, the cargo passages CA01 and CA03 before the transfer operation in fig. 7 satisfy the cargo transfer condition.
At 820, the sub-vehicle may determine the number of free cargo spaces in each of the to-be-transferred cargo lanes.
In this example, the storage of the record store may be recorded in real time, including the storage of the individual shelf levels and the status of the individual cargo space in the individual shelf levels, including the idle status and the occupied status. Based on the recorded storage conditions of the warehouse, the sub-vehicle can acquire the storage conditions, so that the sub-vehicle can determine the number of free cargo spaces in each cargo channel to be transferred.
At 830, the sub-vehicle may determine the most number of free spaces to be transferred cargo lanes to be currently transferred out of the cargo lanes and the least number of free spaces to be transferred to the cargo lanes to be currently transferred into the cargo lanes.
The goods stored in the currently diverted goods channel may be diverted to other goods channels, where the currently diverted goods channel may be diverted to goods from other goods channels.
At 840, the sub-vehicle may transfer the entire pallet in the current transfer-out lane to the current transfer-in lane until either the transfer-in lane has no empty cargo space or the entire pallet in the transfer-out lane has been transferred out, indicating that the transfer of cargo between the current transfer-out lane and the current transfer-in lane is complete. At this time, the goods passage to be transferred, which satisfies the goods transfer condition, may change, for example, when the current transfer goods passage has no empty goods space, the current transfer goods passage no longer satisfies the goods transfer condition in the next round. Thus, after the execution of the operation at 840 is completed, the operation of execution 810 may be returned.
Fig. 9 shows a schematic diagram of another example of cargo transfer according to the present disclosure. As shown in fig. 9, the cargo lanes CA01, CA03, and CA05 are cargo lanes to be transferred, each satisfying a cargo transfer condition, wherein the cargo lane CA05 having the largest number of free cargo positions may be determined to be currently transferred out of the cargo lane, and the cargo lane CA03 having the smallest number of free cargo positions may be determined to be currently transferred into the cargo lane. One of the goods in the goods passage CA05 can be transferred to the goods passage CA03 for storage. The cargo space conditions in the respective cargo passages at this time are shown in the middle diagram, wherein the cargo passages to be transferred that satisfy the cargo transfer condition are cargo passages CA01 and CA05. The cargo lane CA05 with the largest number of free cargo positions may be determined to be currently transferred out of the cargo lane, and the cargo lane CA01 with the smallest number of free cargo positions may be determined to be currently transferred into the cargo lane. One cargo in the cargo passage CA05 is transferred to the cargo passage CA01 for storage, and the cargo passage CA05 becomes a cargo passage where no cargo is stored after the transfer is completed.
In one example of a transfer of goods, when a pallet of goods of different goods types and/or different lot information is stored in one goods lane, a sub-vehicle may transfer the pallet of goods belonging to the same goods type and same lot information from the goods lane to other goods lanes. The other goods channels are not used for storing the whole-support goods, or the whole-support goods stored in the other goods channels and the whole-support goods to be transferred in belong to the same goods type and batch information.
For the whole-pallet goods which belong to one goods type and batch information and are to be rolled out in the goods channel, when other goods channels for storing the whole-pallet goods of the goods type and the batch information exist, the sub-vehicle can transfer the whole-pallet goods to be rolled out to the other goods channels for storage. When there is no other cargo lane for storing the bulk cargo of the cargo type and the lot information, the sub-vehicle may select one other cargo lane not storing the bulk cargo and then transfer the bulk cargo to be transferred to the selected other cargo lane for storage.
Fig. 10 shows a schematic diagram of another example of cargo transfer according to the present disclosure. As shown in fig. 10, there are three types of palletized loads in the cargo channel CA03, which may belong to different cargo types and/or different batches. For the first palletized load (1), it may be transferred to the load path CA01 for storage. For the second palletized load (2), it may be transferred to the load path CA02 for storage. The third palletized load (3) remains in the load path CA 03.
In one example, each cargo aisle has only one access opening for transporting whole pallet cargo into or out of the cargo aisle, the access opening of each cargo aisle being located on a side of the cargo aisle adjacent to the corresponding sub-aisle. In addition, the warehouse-in time of each whole-pallet cargo can be recorded, and the sub-vehicle can acquire the warehouse-in time of each whole-pallet cargo. When a plurality of whole-pallet cargos belonging to the same cargo type and the same batch are stored in the same cargo channel, the whole-pallet cargos are sequentially transported out according to the sequence of the warehouse-in time, namely, the whole-pallet cargos with earlier warehouse-in time are transported out of the cargo channel preferentially.
In this example, when a plurality of whole-pallet cargoes belonging to the same cargo type and the same lot are stored in one cargo lane, the sub-vehicle may sequentially arrange the whole-pallet cargoes onto each cargo space in the order of the cargo lane from outside to inside according to the time sequence of warehousing the plurality of whole-pallet cargoes. In the rearranged cargo aisle, the first cargo space on the outer side (i.e., the cargo space adjacent to the corresponding sub-truck aisle) stores the whole cargo with the earliest warehousing time, and the warehousing time corresponding to the whole cargo stored in each cargo space is from the early to the late in the sequence from the outer side to the inner side.
Through the above example, after the whole-pallet goods belonging to the same goods type and the same batch in each goods channel are rearranged, the whole-pallet goods with early warehouse-in time are preferentially obtained from the goods channel, and the logic of preferentially transporting the whole-pallet goods with early warehouse-in time when the sub-vehicle executes the warehouse-out task is met. The complicated operation that the whole-support goods with the early warehousing time are placed on the inner side of the goods channel in the ex-warehouse process and the other whole-support goods with the later warehousing time near the outer side are required to be removed and then the whole-support goods with the early warehousing time are acquired is avoided.
In one example, when a sub-vehicle of one shelf level is performing a cargo warehousing task, the sub-vehicle needs to transport the warehoused cargo to a designated cargo space for storage. In the process, a first cargo space where the cargo of the sub-vehicle performs the warehousing task can be determined. That is, the sub-vehicle needs to transport the warehoused cargo to the first cargo space for storage.
Then, in the to-be-executed warehouse-out task, the sub-vehicle can screen the target warehouse-out task according to the first cargo space. In the target delivery task, the goods to be delivered are positioned on the goods shelf layer where the sub-vehicle is positioned, and the distance between the second goods position and the first goods position stored by the goods to be delivered is within a specified distance range. For example, the cargo aisle at the second cargo space is adjacent to the cargo aisle at the first cargo space.
The sub-vehicle sends the target delivery task to the sub-vehicle, wherein the target delivery task can comprise cargo information to be delivered, information of a second cargo position and the like. Thus, after the sub-vehicle finishes the warehouse-in task, the sub-vehicle can continue to execute the target warehouse-out task nearby the first goods space. By continuing to execute the ex-warehouse task in the vicinity of the first cargo space, the moving distance of the sub-vehicle can be reduced, and the ex-warehouse flow efficiency in the warehouse can be improved.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Not all steps or units in the above-mentioned flowcharts and system configuration diagrams are necessary, and some steps or units may be omitted according to actual needs. The order of execution of the steps is not fixed and may be determined as desired. The apparatus structures described in the above embodiments may be physical structures or logical structures, that is, some units may be implemented by the same physical entity, or some units may be implemented by multiple physical entities, or may be implemented jointly by some components in multiple independent devices.
The term "exemplary" used throughout this specification means "serving as an example, instance, or illustration," and does not mean "preferred" or "advantageous over other embodiments. The detailed description includes specific details for the purpose of providing an understanding of the described technology. However, the techniques may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the concepts of the described embodiments.
The alternative implementation manner of the embodiment of the present disclosure has been described in detail above with reference to the accompanying drawings, but the embodiment of the present disclosure is not limited to the specific details of the foregoing implementation manner, and various simple modifications may be made to the technical solution of the embodiment of the present disclosure within the scope of the technical concept of the embodiment of the present disclosure, and all the simple modifications belong to the protection scope of the embodiment of the present disclosure.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A warehouse for storing goods, comprising at least one goods inlet and at least one goods outlet, wherein a plurality of goods shelf layers are arranged in the warehouse, and each goods shelf layer is provided with a parent car channel and a plurality of child car channels which are perpendicular to the extending direction of the parent car channel; each shelf layer is provided with a primary-secondary shuttle, each primary-secondary shuttle comprises a primary vehicle and a secondary vehicle, the secondary vehicle in each shelf layer carries the secondary vehicle to move on a primary vehicle channel in the shelf layer, the secondary vehicle in each shelf layer is configured to move on a secondary vehicle channel in the shelf layer after being separated from the corresponding primary vehicle,
the parent lane and the plurality of child lanes of each shelf layer divide the shelf layer into a plurality of shelf areas, each shelf area includes a plurality of cargo lanes, an extension direction of each cargo lane is perpendicular to an extension direction of an adjacent child lane, each cargo lane includes a plurality of cargo spaces, each cargo space included in each cargo lane is sequentially arranged in the extension direction of the cargo lane,
the two sides of the plurality of goods shelf layers are provided with lifting machines which are configured to move up and down to reach each goods shelf layer, the up and down moving track of the lifting machines is connected with the bus passage arranged on each goods shelf layer,
Each group of goods stored in the warehouse is provided with a tray for bearing the group of goods, and the tray bearing the goods is transported to a corresponding goods place for storage by a sub-vehicle or is transported out of the goods place by the sub-vehicle; each sub-vehicle is provided with a sensor for measuring the deflection of each tray; the trays bearing the cargoes are provided with labels, and the label of each tray is used for representing the information of the cargoes borne by the tray;
the sensor comprises a laser ranging sensor, wherein the measuring area of each tray measured by the laser ranging sensor is a circular area which is arranged on the lower surface of the tray, takes the center of the tray as the center of a circle and takes the designated length as the radius;
during the uniform movement of each sub-vehicle on each sub-vehicle channel, the sensors configured on the sub-vehicle are configured as follows: measuring deflection of a measuring area of a tray placed on each cargo space in a cargo channel adjacent to the sub-car channel;
in the process that each sub-vehicle moves through each cargo passage, the laser emitted by the laser ranging sensor arranged on the sub-vehicle moves in a specified angle range in the vertical direction, wherein the specified angle range comprises a first angle with the largest included angle with the vertical downward direction and a second angle with the smallest included angle with the vertical downward direction,
When the laser emitted by the laser ranging sensor is positioned at the first angle, the laser emitted by the laser ranging sensor is positioned in a measuring area of a tray on a goods space closest to a sub-car channel where the sub-car is positioned in the goods channel,
when the laser emitted by the laser ranging sensor is positioned at the second angle, the laser emitted by the laser ranging sensor is positioned in a measuring area of a tray on a goods space with the farthest distance from a sub-car channel where the sub-car is positioned in the goods channel.
2. A warehouse as claimed in claim 1, wherein the gap between the lower surface of each pallet and the plane in which the pallet is located is determined in accordance with at least one of: humidity of the position of the warehouse and the type of goods stored in the warehouse.
3. The warehouse as claimed in claim 1, further comprising a plurality of transfer devices connecting the elevator corresponding to the at least one shipment with the crenels for docking with vehicles, one transfer device for each shipment order, each transfer device for transferring the cargo corresponding to the shipment order from the exit of the elevator to the crenels.
4. The warehouse as claimed in claim 1, wherein the sub-carts of each shelf tier are configured to:
when the goods shelves belonging to the same goods type and the same batch of whole-support goods in the goods shelves belonging to the sub-vehicle are respectively placed in a plurality of goods channels, and at least two goods channels in the plurality of goods channels have idle goods spaces, transferring the whole-support goods in one or more goods channels to the idle goods spaces of the other goods channels for storage; and/or the number of the groups of groups,
when different cargo types and/or different batches of whole-support cargos are stored in one cargo channel, the whole-support cargos belonging to the same cargo type and the same batch of whole-support cargos are transferred out of the cargo channel into other cargo channels, wherein the whole-support cargos are not stored in the other cargo channels, or the whole-support cargos stored in the other cargo channels and the whole-support cargos to be transferred in belong to the same cargo type and batch information.
5. The warehouse as claimed in claim 1, wherein the sub-carts of each shelf tier are configured to:
and carrying out cargo transferring in the following manner until the cargo transferring condition is not met, wherein the cargo transferring condition comprises the following steps: the whole cargo belonging to the same cargo type and the same batch is respectively placed in a plurality of cargo channels, and at least two cargo channels in the plurality of cargo channels have idle cargo positions:
When a plurality of goods channels to be transferred meeting the goods transfer conditions exist in the goods shelf layer to which the sub-vehicle belongs, determining the number of idle goods spaces in each goods channel to be transferred;
determining a current transfer-out cargo channel from a to-be-transferred cargo channel with the largest number of idle cargo positions, and determining a current transfer-in cargo channel from a to-be-transferred cargo channel with the smallest number of idle cargo positions; and
and transferring the whole cargo in the current transfer cargo passage to the current transfer cargo passage until the transfer cargo passage has no idle cargo space or the whole cargo in the transfer cargo passage has been transferred, and returning to execute the step of determining the number of idle cargo spaces in each cargo passage to be transferred meeting the cargo transfer condition when the cargo transfer condition is met.
6. The warehouse as claimed in claim 1, wherein each cargo aisle has only one gate for feeding whole pallet cargo into or out of the cargo aisle, the gate of each cargo aisle being located on a side of the cargo aisle adjacent to the corresponding sub-aisle,
the sub-cars of each shelf layer are configured to:
when a plurality of whole-pallet cargos belonging to the same cargo type and the same batch are stored in one cargo channel, each whole-pallet cargo is sequentially arranged on each cargo position according to the sequence of the warehousing time of the plurality of whole-pallet cargos from outside to inside of the cargo channel.
7. The warehouse as claimed in claim 1, wherein the sub-carts of each shelf tier are configured to:
when the sub-vehicle executes a cargo warehousing task, determining a first cargo space where the cargo of the sub-vehicle executing the warehousing task is located;
screening a target delivery task according to the first goods space in the delivery task to be executed, wherein the goods to be delivered in the target delivery task are positioned on a goods shelf layer where the sub-vehicle is positioned, and the distance between the second goods space stored by the goods to be delivered and the first goods space is within a specified distance range; and
and sending the target ex-warehouse task to the sub-vehicle, so that the sub-vehicle executes the target ex-warehouse task after the sub-vehicle executes the warehouse-in task.
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