CN115504145B - Cargo handling method, device, equipment and automatic handling system - Google Patents
Cargo handling method, device, equipment and automatic handling system Download PDFInfo
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- CN115504145B CN115504145B CN202211272230.4A CN202211272230A CN115504145B CN 115504145 B CN115504145 B CN 115504145B CN 202211272230 A CN202211272230 A CN 202211272230A CN 115504145 B CN115504145 B CN 115504145B
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- 238000000034 method Methods 0.000 title claims abstract description 69
- 238000003032 molecular docking Methods 0.000 claims abstract description 42
- 238000012546 transfer Methods 0.000 claims abstract description 23
- 210000001503 joint Anatomy 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 description 21
- 230000008569 process Effects 0.000 description 20
- 238000010586 diagram Methods 0.000 description 13
- 230000003993 interaction Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 7
- 238000012795 verification Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 238000003491 array Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
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- 230000000717 retained effect Effects 0.000 description 1
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Classifications
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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
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0428—Transfer means for the stacker crane between the alleys
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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
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明实施例公开了一种货物搬运方法、装置、设备和自动搬运系统，其中，货物搬运方法包括：根据存货指令，调度第一自主移动机器人将货物搬运至位于目标巷道中的第一接驳区；控制所述第一自主移动机器人和与其对接的第一智能叉车在所述第一接驳区对接，以将所述货物转移至所述第一智能叉车；控制所述第一智能叉车将所述货物搬运至目标货架；所述目标货架包括高位货架。如此，第一智能叉车不用出仓库中的巷道，不仅能实现高效率的高位存取转运，还具有较高的灵活性。
The embodiments of the present invention disclose a cargo handling method, device, equipment and automatic handling system, wherein the cargo handling method comprises: according to the inventory instruction, dispatching the first autonomous mobile robot to carry the cargo to the first docking area located in the target lane; controlling the first autonomous mobile robot to dock with the first intelligent forklift docked therewith in the first docking area to transfer the cargo to the first intelligent forklift; controlling the first intelligent forklift to carry the cargo to the target shelf; the target shelf includes a high-level shelf. In this way, the first intelligent forklift does not need to leave the lane in the warehouse, which can not only realize efficient high-level storage and retrieval transportation, but also has high flexibility.
Description
Technical Field
The application relates to the technical field of logistics application, in particular to a cargo carrying method, a cargo carrying device, a cargo carrying equipment and an automatic carrying system.
Background
Along with the rapid development of economy, the warehousing technology is applied to various industries in life, for example, the warehousing technology is applied to finished product warehousing, raw material warehousing, and centralized turnover warehousing in express and logistics industries and the like. Wherein, warehouse among the warehouse technique is used for depositing the goods.
In the related art, in order to improve the space utilization, high-level racks are used in more and more warehouses, and the stacker is utilized to realize the carrying and high-level access of cargoes. Specifically, the stacker loads and conveys the goods to the vicinity of the high-level goods shelf, and the goods are stored on the high-level goods shelf by utilizing the lifting mechanism and the fork mechanism. However, the above-mentioned handling method is poor in handling flexibility due to the structural limitation of the stacker used in the tunnel.
Disclosure of Invention
In order to solve the above technical problems or at least partially solve the above technical problems, embodiments of the present invention provide a method, an apparatus, a device, and an automatic handling system for cargo.
In a first aspect, an embodiment of the present invention provides a method for handling cargo, including:
scheduling the first autonomous mobile robot to carry the cargo to a first docking area located in the target roadway according to the inventory instructions;
controlling the first autonomous mobile robot and a first intelligent forklift in butt joint with the first autonomous mobile robot to dock in the first docking area so as to transfer the goods to the first intelligent forklift;
and controlling the first intelligent forklift to carry the goods to a target goods shelf, wherein the target goods shelf comprises a high-level goods shelf.
In some embodiments, the scheduling the first autonomous mobile robot to carry cargo to a first docking area located in a target roadway includes:
Controlling a first autonomous mobile robot to acquire first position information of a first intelligent forklift in butt joint with the first autonomous mobile robot, wherein the first intelligent forklift is positioned in a target roadway;
controlling a first autonomous mobile robot to determine a first connection area according to first position information of the first intelligent forklift;
and controlling a first autonomous mobile robot to carry goods to the first connection area.
In some embodiments, prior to scheduling the first autonomous mobile robot to travel to the first docking zone, the method further comprises:
transmitting position information of a first connection area to the first autonomous mobile robot;
Before scheduling the first intelligent fork truck for the first docking area, the method further comprises:
and sending the position information of the first connection area to the first intelligent forklift.
In some embodiments, the method of cargo handling further comprises:
according to the goods taking instruction, a second intelligent forklift in the target roadway is scheduled to carry goods stored in the target goods shelf;
controlling the second intelligent forklift and a second autonomous mobile robot in butt joint with the second intelligent forklift to be in butt joint with a second joint area positioned in the target roadway so as to transfer the goods to the second autonomous mobile robot;
And controlling the second autonomous mobile robot to carry the goods to a target area outside the roadway.
In some embodiments, the controlling the second intelligent forklift to dock with a second autonomous mobile robot docked therewith in a second docking area located in the target roadway includes:
Controlling a second autonomous mobile robot to acquire second position information of the second intelligent forklift in the target roadway;
controlling a second autonomous mobile robot to determine a second connection area according to second position information of the second intelligent forklift;
And controlling the second autonomous mobile robot to be in butt joint with a second intelligent forklift in the second connection area.
In some embodiments, prior to scheduling the second autonomous mobile robot to travel to the second docking zone, the method further comprises:
transmitting position information of the second connection area to the second autonomous mobile robot;
before scheduling the second intelligent fork to travel to the second docking area, the method further comprises:
and sending the position information of the second connection area to the second intelligent forklift.
In some embodiments, after controlling the first intelligent forklift to carry the cargo to a target rack, further comprising:
and updating the inventory state information of the goods, wherein the inventory state information of the goods comprises at least one of the quantity of the goods, the category of the goods, the warehouse-in date of the goods and the warehouse-out date of the goods.
In a second aspect, embodiments of the present invention provide a cargo handling device comprising:
the dispatching unit is used for dispatching the first autonomous mobile robot to carry cargoes to a first connection area in the roadway according to the inventory instruction;
the first control unit is used for controlling the first autonomous mobile robot and a first intelligent forklift in butt joint with the first autonomous mobile robot to butt joint in the first joint area so as to transfer the goods to the first intelligent forklift;
and the second control unit is used for controlling the first intelligent forklift to carry the goods to the target goods shelf.
In a third aspect, an embodiment of the invention provides an apparatus comprising a memory storing a computer program and a processor implementing the steps of the method of any preceding claim when the processor executes the computer program.
In a fourth aspect, an embodiment of the present invention provides an automatic handling system, which includes at least one autonomous mobile robot, at least one intelligent forklift, and an apparatus as set forth in any one of the preceding claims, where the autonomous mobile robot and the intelligent forklift are respectively connected to the apparatus in a communication manner.
In a fifth aspect, embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any of the preceding claims.
According to the cargo handling method, device, equipment and automatic handling system, a first autonomous mobile robot is scheduled to handle cargoes to a first connection area located in a target roadway according to inventory instructions, the first autonomous mobile robot is controlled to be in butt joint with a first intelligent forklift in the first connection area so as to transfer the cargoes to the first intelligent forklift, the first intelligent forklift is controlled to handle the cargoes to a target goods shelf, and the target goods shelf comprises a high-level goods shelf. So, autonomous mobile robot can freely shuttle outside the tunnel and in the tunnel in a flexible way, intelligent fork truck can be in the tunnel in flexible movement first intelligent fork truck need not go out the tunnel in the warehouse, has shortened first intelligent fork truck's distance of transportation for first intelligent fork truck can transport and deposit more goods, has realized the high-order access of efficient and has transported, can ensure moreover to get the high flexibility of putting goods to high-order goods shelves, and the transport flexibility is higher.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1a is a schematic diagram of a layout of a warehouse in a transportation scenario according to an embodiment;
FIG. 1b is a schematic diagram of a layout of a high-end shelf according to an embodiment;
fig. 1c is a schematic diagram of a scenario in which an intelligent forklift picks up and places goods according to an embodiment;
fig. 1d is a schematic diagram of a second scenario of picking and placing goods by an intelligent forklift according to an embodiment;
FIG. 1e is a schematic diagram illustrating connection of a portion of devices in a handling scenario according to an embodiment;
FIG. 2 is a flow chart of a method of handling cargo according to one embodiment;
FIG. 3 is a flow chart of a method of handling cargo according to another embodiment;
FIG. 4a is a schematic diagram of an inventory scenario in accordance with one embodiment;
FIG. 4b is a schematic diagram of a second inventory scenario provided by an embodiment;
FIG. 4c is a schematic diagram of a picking scenario I according to an embodiment;
FIG. 4d is a diagram illustrating a second pick-up scenario according to an embodiment;
FIG. 5 is a schematic diagram of a cargo handling device according to one embodiment;
fig. 6 is a schematic diagram of an apparatus provided in an exemplary embodiment.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The embodiment provides a goods handling method, device, equipment and automatic handling system, which are characterized in that an autonomous mobile robot with an autonomous movement function is adopted to transport goods from a warehouse temporary storage area to a warehouse roadway, an intelligent forklift in the roadway is connected with the autonomous movement and the robot, the goods are transferred to the intelligent forklift, and the intelligent forklift is used for transporting the goods to a high-level goods shelf and storing the goods on the high-level goods shelf. So, autonomous mobile robot can freely shuttle outside the tunnel and in the tunnel in a flexible way, intelligent fork truck can move in a flexible way in the tunnel, intelligent fork truck just can deposit the goods to high-order goods shelves without going out the tunnel, can realize high-efficient high-order access and transport, and transport through adopting comparatively freely nimble autonomous mobile robot and intelligent fork truck to connect in addition, can also ensure the high flexibility of getting the goods put to high-order goods shelves, the transport flexibility is higher.
The cargo handling method according to the embodiment of the present invention is described below by way of example with reference to the accompanying drawings.
As shown in fig. 1a, the handling scenario includes a high-level rack for storing goods. The high-level shelves may be arranged in a plurality of rows (or a plurality of rows), as shown in fig. 1a and 1b, the high-level shelves are arranged in a plurality of rows along the left-right direction in the figure, and the channels between two adjacent rows of high-level shelves are roadways. The high-level shelf comprises a plurality of stock units, wherein at least part of the stock units are distributed along the height direction of the high-level shelf, and as shown in fig. 1c and 1d, part of the stock units are distributed along the up-down direction in the figure.
The carrying scene also comprises an autonomous mobile robot (English is called Adaptive Multi-Rate, english is called AMR for short) and an intelligent forklift, and the autonomous mobile robot and the intelligent forklift respectively comprise a plurality of autonomous mobile robots and the intelligent forklift, as shown in figure 1 a. Wherein, intelligent fork truck can adopt the automated guided vehicle (English is called Automated Guided Vehicle entirely, english is called AGV for short).
For ease of description, stock in stock is illustrated herein. The autonomous mobile robot is used for transporting cargoes from the temporary storage area to the roadway, and the intelligent forklift is used for being connected with the autonomous mobile robot in the roadway to store cargoes into the high-level goods shelf.
The autonomous mobile robot comprises a machine body, wherein a universal wheel or other travelling mechanisms are arranged at the bottom end of the machine body, and a cargo carrying platform is arranged at the top end of the machine body. The parts of the embodiment, which are not described in terms of the structure of the autonomous mobile robot, may be set according to actual needs.
The intelligent forklift comprises a forklift body, wherein a universal wheel or other travelling mechanisms are arranged at the bottom end of the forklift body, a lifting mechanism and a fork mechanism are arranged on the forklift body, the lifting mechanism is used for driving the fork mechanism to lift or descend, and the fork mechanism is used for picking up or putting down goods. As shown in fig. 1d, the intelligent forklift can lift the goods to correspond to the high-level stock units in the high-level shelf through the lifting mechanism so as to realize high-level storage. The portion of the embodiment, which is not described in the structure of the intelligent forklift, may be set according to actual needs.
As shown in fig. 1e, the handling scenario further includes a dispatching device, where the dispatching device is configured to dispatch the intelligent forklift and the autonomous mobile robot, respectively. The automatic mobile robot and the intelligent forklift can be respectively in communication connection with the same dispatching equipment, or the dispatching desk comprises a plurality of dispatching equipment, and the automatic mobile robot and the intelligent forklift are respectively in communication connection with the corresponding dispatching equipment. The handling scene can also comprise a man-machine interaction terminal, and the man-machine interaction terminal is used for being in communication connection with equipment such as scheduling equipment.
FIG. 2 is a flow chart of a method for handling cargo according to an embodiment. Referring to fig. 2, the cargo handling method provided in the present embodiment may include the following steps:
s201, according to the inventory instruction, the first autonomous mobile robot is scheduled to carry cargoes to a first connection area located in the target roadway.
The execution body of the embodiment is a scheduling device. Or the execution subject of the present embodiment may be other control device or processing device having an information processing function. The present embodiment is not limited to the execution body, but is exemplified herein. For convenience of description, this embodiment will be described taking an execution body as a scheduling apparatus as an example.
When a warehouse-in demand (namely, an inventory demand) exists, after the to-be-stocked objects reach the temporary storage area, the on-site staff can trigger the dispatching equipment through the man-machine interaction terminal to dispatch the first autonomous mobile robot to reach the temporary storage area and load the goods.
Specifically, the on-site staff can input goods information of the goods through the man-machine interaction terminal, and the goods information can comprise the quantity, the category, the warehouse-in date and the like of the goods. After the on-site staff finishes inputting the goods information of the goods, the on-site staff can send inventory instructions to the dispatching equipment through the interaction interface of the man-machine interaction terminal.
The dispatching device dispatches the first autonomous mobile robot to reach the temporary storage area and load goods according to the inventory instructions. The dispatching equipment can distribute a first autonomous mobile robot which is closer to the current position of the goods to execute the current inventory task, or the dispatching equipment can distribute a first autonomous mobile robot with residual electricity higher than a preset value to execute the current inventory task, or the dispatching equipment can distribute a first autonomous mobile robot with idle time higher than the preset value to execute the current inventory task.
The dispatching equipment sends a first dispatching instruction to the distributed first autonomous mobile robot, wherein the first dispatching instruction comprises the current position information of the goods to be stored. The first autonomous mobile robot travels to the current location of the to-be-stocked object according to the current location information of the to-be-stocked object to load the to-be-stocked object, and specifically, the goods can be loaded onto the cargo carrying platform of the first autonomous mobile robot by an on-site worker or other equipment.
After the first autonomous mobile robot loads the to-be-stocked objects, the to-be-stocked objects can be transported to a first connection area located in the target roadway according to the first scheduling instruction so as to be connected with the first intelligent forklift. The first docking area may be determined before the first autonomous mobile robot starts to transport, or may be determined during the transport of the first autonomous mobile robot.
The scheduling device may also determine the target lane before the first autonomous mobile robot begins to transport. In some examples, the scheduling device may determine the target lane based on cargo information of the item to be stocked (e.g., a category of cargo) and a status of the stock keeping unit in the overhead shelf.
In the specific implementation process, the scheduling equipment can obtain the corresponding relation between the category of the goods and the position information of the high-level goods shelves in advance, and the high-level goods shelves corresponding to the same category of the goods can be located in the same roadway or in different roadways.
When a target roadway is determined, the scheduling equipment acquires the position information of the high-level shelf corresponding to the category of the to-be-stocked object according to the category of the to-be-stocked object and the corresponding relation between the category of the goods and the position information of the high-level shelf, if the high-level shelf corresponding to the category of the to-be-stocked object is determined to be located in the same roadway, the roadway is determined to be the target roadway, if the high-level shelf corresponding to the category of the to-be-stocked object is determined to be located in different roadways, the scheduling equipment can acquire the state of the stock unit in the high-level shelf corresponding to the category of the to-be-stocked object, and the target roadway is determined according to the state of the stock unit in the high-level shelf corresponding to the category of the to-be-stocked object, wherein the state of the stock unit comprises an idle state or an occupied state.
In determining the target lane according to the state of the stock units in the high-level shelf corresponding to the category of the stock to be stocked, in some examples, after determining the target stock units in the idle state, the lane corresponding to the stock units in the idle state may be determined as the target lane. In other examples, when the inventory units in the idle state comprise a plurality of inventory units and are located in different lanes, the scheduling device can determine the inventory units which are closer to the current position of the goods from the inventory units, determine the lane corresponding to the inventory units as target lanes, and when the lanes correspond to the inventory units in the idle state, the scheduling device can determine the lanes with the larger number of the inventory units in the idle state as target lanes.
In other examples, the scheduling device may pre-obtain a correspondence between the size of the obtained good and the location information of the high-level shelf. The scheduling equipment can determine the position of the corresponding high-level shelf according to the corresponding relation, and further determine the target roadway.
In other examples, the target lane may also be determined by field personnel and sent to the scheduling device through a man-machine interaction terminal.
S202, controlling the first autonomous mobile robot to dock with a first intelligent forklift docked with the first autonomous mobile robot in a first docking area so as to transfer cargoes to the first intelligent forklift.
The dispatching equipment can dispatch the first intelligent forklift positioned in the target roadway to be in butt joint with the first autonomous mobile robot and transfer cargoes, so that the connection transportation is realized. In other embodiments, when the first intelligent forklift in the target roadway is in a charged state and the task cannot be executed, the scheduling device may schedule the first intelligent forklift located in the other roadway to be connected with the first autonomous mobile robot in the first connection area.
In some examples, the first autonomous mobile robot may authenticate the first smart forklift before transferring the cargo, and after authentication passes, transfer the cargo. The first autonomous mobile robot acquires the device identifier of the first intelligent forklift and matches the device identifier of the first intelligent forklift in the received first scheduling instruction, if the device identifier and the device identifier are matched, the verification is passed, or the first autonomous mobile robot acquires the task identifier of the first intelligent forklift and matches the task identifier in the received first scheduling instruction, and if the device identifier and the task identifier are matched, the verification is passed. If the verification is not passed, the first autonomous mobile robot feeds back error information to the dispatching equipment or sends out a sound prompt to remind on-site staff. In other examples, the first autonomous mobile robot may also be authenticated by the first intelligent forklift, and the authentication process is similar to the above process and will not be described herein.
When transferring the goods, can utilize first intelligent fork truck's lifting mechanism and fork mechanism to realize automatic transfer to improve handling efficiency, use manpower sparingly. Illustratively, the lifting mechanism of the first intelligent forklift lifts or lowers the fork mechanism opposite the first autonomous mobile robot cargo bed, and the fork mechanism transfers the acquisition on the first autonomous mobile robot cargo bed to the first intelligent forklift. The specific structure of the first intelligent forklift is not limited, and the specific structure can be set according to actual needs.
After transferring the cargo to the first intelligent forklift, the scheduling device may schedule the first autonomous mobile robot to perform the next task, or control the first autonomous mobile robot to enter a charging area with a charging peg for charging or wait for the next task.
S203, dispatching the first intelligent forklift to carry the goods to a target goods shelf, wherein the target goods shelf comprises a high-level goods shelf.
The second scheduling instruction sent by the scheduling device to the first intelligent forklift may include position information of the target shelf. The target goods shelf can be a high-level goods shelf or other types of goods shelves. The present embodiment will be described below taking a target shelf as an example of a high-level shelf. The first intelligent forklift conveys goods to corresponding high-level goods shelves according to the position information of the high-level goods shelves.
The second dispatching instruction can further comprise identification information of stock units for storing goods, wherein the stock units for storing the goods can be determined by the dispatching unit from the stock units in an air-conditioning state, and the first intelligent forklift stores the goods into the corresponding stock units through the lifting mechanism and the fork mechanism according to the identification information of the stock units.
In other embodiments, after the first intelligent forklift has carried the cargo into the corresponding high-end rack, the cargo may also be randomly deposited by the first intelligent forklift into the inventory unit in an idle state.
In other embodiments, after the first intelligent forklift delivers the cargo into the corresponding high-end rack, the cargo may also be stored by a robotic arm or other device into the inventory unit of the high-end rack.
After depositing the goods into the target inventory unit, the scheduling device may schedule the first intelligent forklift to perform the next task, or control the first intelligent forklift to enter a charging area to charge or wait for the next task. The charging area of the first intelligent forklift and the charging area of the automatic mobile robot may be located in different areas, or the charging area of the first intelligent forklift and the charging area of the automatic mobile robot may also at least partially overlap.
According to the cargo handling method, the first autonomous mobile robot is scheduled to carry cargoes to the first connection area in the roadway according to the inventory instruction, the first autonomous mobile robot is controlled to be in butt joint with the first intelligent forklift in the first connection area, cargoes are transferred to the first intelligent forklift, the first intelligent forklift is scheduled to carry cargoes to the target goods shelf, and the target goods shelf comprises a high-level goods shelf. So, autonomous mobile robot can freely shuttle outside the tunnel and in the tunnel in a flexible way, intelligent fork truck can move in a flexible way in the tunnel, first intelligent fork truck need not go out the tunnel in the warehouse, shortened first intelligent fork truck's transportation distance, make first intelligent fork truck can transport and deposit more goods, can realize the high-order access of efficient and transport, through adopting comparatively freely nimble autonomous mobile robot and intelligent fork truck to transport of plugging into, can also ensure to get the high flexibility of putting goods to high-order goods shelves, the transport flexibility is higher, can be applicable to more transport scenes.
In one possible implementation manner, the first autonomous mobile robot can follow the position of the first intelligent forklift and perform connection, so that limitation of connection positions of the first autonomous mobile robot and the first intelligent forklift is reduced, and flexibility is improved. Specifically, step S201 includes:
Step a, controlling a first autonomous mobile robot to acquire first position information of a first intelligent forklift in butt joint with the first autonomous mobile robot, wherein the first intelligent forklift is positioned in a target roadway;
step b, determining a first connection area according to first position information of a first intelligent forklift;
And c, dispatching the first autonomous mobile robot to carry the goods to the first connection area.
For steps a-c, in some examples, after receiving the inventory instruction, the scheduling device may generate a first scheduling instruction according to information such as current location information of the goods, device information of the allocated first intelligent forklift, and the like, and send the first scheduling instruction to the first autonomous mobile robot.
After the first autonomous mobile robot receives the first dispatching instruction, the first autonomous mobile robot loads goods to the position where the goods are located according to the current position information of the goods in the first dispatching instruction. In the loading process, or after loading is completed, the first autonomous mobile robot acquires first position information of the first intelligent forklift according to the equipment information of the first intelligent forklift in the first scheduling instruction and drives to the first intelligent forklift so as to realize following the position of the first intelligent forklift.
In some examples, the first intelligent forklift and the first autonomous mobile robot move in opposite directions, i.e., the first autonomous mobile robot travels toward the first intelligent forklift according to the first scheduling instruction, and the first intelligent forklift travels in a direction toward the roadway opening of the target roadway according to the received second scheduling instruction. The first autonomous mobile robot can acquire first position information of the first intelligent forklift in real time, and when the distance between the first autonomous mobile robot and the first intelligent forklift is smaller than a set value, the first connection area is determined according to the position of the first intelligent forklift at the moment, for example, the position of the first intelligent forklift at the moment is determined to be the first connection area.
In other examples, the first intelligent forklift does not move, and the first autonomous mobile robot travels toward the first intelligent forklift in accordance with the first scheduling instruction. The first autonomous mobile robot acquires the equipment information of the first intelligent forklift in the first scheduling instruction, acquires the first position information of the first intelligent forklift, and takes the position corresponding to the first position information of the first intelligent forklift as a first connection area.
In the example, the first autonomous mobile robot automatically realizes the following of the first intelligent forklift position, so that the data transmission time can be reduced, and the control accuracy is improved. Of course, in other examples, the first location information of the first intelligent forklift is obtained, and the execution subject for determining the first connection area according to the first location information may also be scheduling equipment, where the implementation process is similar to the implementation process described above, and will not be described again.
In another possible implementation manner, the first intelligent forklift and the first autonomous mobile robot are connected in a first predetermined connection area, so that data processing capacity is reduced.
Specifically, the cargo handling method further includes, prior to scheduling the first autonomous mobile robot to travel to the first docking area, transmitting location information of the first docking area to the first autonomous mobile robot. The method further includes, prior to scheduling the first intelligent forklift to travel to the first docking area, transmitting location information of the first docking area to the first intelligent forklift.
The first scheduling instruction sent by the scheduling device to the first autonomous mobile robot and the second scheduling instruction sent by the scheduling device to the first intelligent forklift respectively comprise predetermined position information of the first connection area.
The first docking zone may be a relatively fixed area in the target roadway, for example at the exit of the target roadway. Or the first connection area is determined by the scheduling equipment according to the running conditions of the first intelligent forklifts and the like in the target tunnel after the scheduling equipment receives the inventory instruction, so that the influence on the transfer efficiency caused by mutual interference of a plurality of first intelligent forklifts in the target tunnel is avoided.
In some embodiments, after the first intelligent forklift stores the goods in the high-level goods shelf, the inventory status information of the goods can be updated, wherein the inventory status information of the goods comprises at least one of the quantity of the goods, the category of the goods and the date of warehousing the goods.
For example, taking the category of the goods as a as an example, before the first intelligent forklift is used for inventory, the number of the goods A is 1800, the number of the goods A stored by the first intelligent forklift is 200, then the number of the goods A after updating is 2000, and the date of storing the goods A, namely the date of leaving the warehouse of the goods, is recorded.
For example, taking the category of the goods as B as an example, before the present inventory task, if there is no goods B and the corresponding relation between the goods B and the stock state information in the data storage unit, the goods B and the corresponding relation between the goods B and the stock state information may be newly created. If the number of cargos B stored in the first intelligent forklift is 100, the number of updated cargos B is 100.
Fig. 3 is a flow chart of a cargo handling method according to another embodiment. Referring to fig. 3, in some embodiments, the cargo handling method further includes:
S301, dispatching a second intelligent forklift to carry goods stored on the target goods shelf according to the goods taking instruction.
When a delivery demand (namely, a goods taking demand) exists, on-site staff sends a goods taking instruction to the dispatching equipment through the man-machine interaction terminal. The dispatching equipment dispatches the second intelligent forklift to fetch goods from the stock unit of the high-level goods shelf according to the goods fetching instruction. The goods taking instruction may include goods information of the goods to be taken, so that the dispatching device can determine the current position of the goods to be taken according to the goods information of the goods to be taken, or the goods taking instruction may include the current position of the goods to be taken. The first intelligent forklift in the picking process can be the same as the second intelligent forklift in the stocking process, and can also be different.
In some examples, the dispatching device sends a third dispatching instruction to the second intelligent forklift according to the goods taking instruction, wherein the third dispatching instruction comprises goods information of goods to be taken or position information of the goods to be taken, the second intelligent forklift reaches the current position of the goods to be taken according to the third dispatching instruction, and the second intelligent forklift can take the goods from corresponding inventory units by using a lifting mechanism and a fork mechanism and convey the goods to the second connection area.
In other examples, the scheduling device may also obtain current position information of the second intelligent forklift, determine a path of the second intelligent forklift according to the current position information of the second intelligent forklift and the position information of the goods to be fetched, send the path to the second intelligent forklift, and the second intelligent forklift arrives at the current position of the goods to be fetched and fetches the goods according to the path.
S302, controlling a second intelligent forklift to dock with a second autonomous mobile robot docked with the second intelligent forklift in a second docking area of the target roadway so as to transfer cargoes to the second autonomous mobile robot.
After the goods are taken, the second intelligent forklift carries the taken goods to a second connection area. The second connection area may be determined before the second intelligent forklift starts to transport, or may be determined during the transport process of the second intelligent forklift. The second docking area may be the same as the first docking area during the inventory process, and the second docking area may also be different from the first docking area during the inventory process.
The dispatching equipment sends a fourth dispatching instruction to the second autonomous mobile robot, the second autonomous mobile robot runs into the target roadway according to the fourth dispatching instruction and is in butt joint with the second intelligent forklift, and the second intelligent forklift transfers goods to the second autonomous mobile robot by utilizing the lifting mechanism and the fork mechanism to realize the transfer. The first autonomous mobile robot in the picking process and the second autonomous mobile robot in the stocking process can be the same vehicle or different vehicles.
Before the dispatching device sends the fourth dispatching instruction, the dispatching device can firstly determine the second autonomous mobile robot executing the cargo taking task. The scheduling device may schedule the second autonomous mobile robot closer to the target roadway to dock with the second intelligent forklift, or the scheduling device may schedule the second autonomous mobile robot with a residual electric power higher than a preset value to dock with the second intelligent forklift, or the scheduling device may schedule the second autonomous mobile robot with an idle time higher than a preset value to dock with the second intelligent forklift.
In addition, the second intelligent forklift can be verified before the goods are transferred, and the goods are transferred after verification is passed. The verification process may be similar to the verification process described above for inventory and will not be described in detail herein.
S303, controlling the second autonomous mobile robot to convey the goods to a target area outside the roadway.
After transferring the goods to the second autonomous mobile robot, the second autonomous mobile robot moves the goods to the target area according to the position information of the target area in the fourth scheduling instruction. Wherein. The target area may be a temporary area or other area located outside the roadway. The location information of the target area may be sent to the scheduling device by the field staff through the man-machine interaction terminal, or may be determined by the scheduling device according to the field related information, which is not limited herein.
In this embodiment, can utilize the second autonomous mobile robot of cost relatively lower to transport goods between the outer temporary storage area of tunnel and tunnel, second intelligent fork truck need not go out the tunnel in storehouse, shortened the transportation distance of second intelligent fork truck for second intelligent fork truck can transport and deposit more goods, not only can ensure the high flexibility of putting goods to high-order goods shelves, can realize high-efficient high-order access and transport, can also reduce the handling cost.
In one possible implementation manner, the second autonomous mobile robot follows the position of the second intelligent forklift and performs connection, so that the connection positions of the second autonomous mobile robot and the second intelligent forklift are limited, and the flexibility is improved. Specifically, step S302 includes:
Step I, controlling a second autonomous mobile robot to acquire second position information of a second intelligent forklift in a target roadway;
step II, controlling a second autonomous mobile robot to determine a second connection area according to second position information of a second intelligent forklift;
And III, controlling the second autonomous mobile robot to travel to a second connection area, controlling the second intelligent forklift to carry the goods to the second connection area, and controlling the second autonomous mobile robot to be in butt joint with the second intelligent forklift in the second connection area so as to transfer the goods to the second autonomous mobile robot.
For steps I to III, in some examples, after receiving the pickup instruction, the scheduling device may generate a fourth scheduling instruction according to the current location information of the cargo, the device information of the allocated second intelligent forklift, the target area for temporarily storing the cargo, and the like, and send the fourth scheduling instruction to the second autonomous mobile robot.
After the second autonomous mobile robot receives the fourth scheduling instruction, the second autonomous mobile robot obtains second position information of the second intelligent forklift according to the equipment information of the second intelligent forklift in the fourth scheduling instruction and drives to the second intelligent forklift so as to follow the position of the second intelligent forklift.
The second autonomous mobile robot can acquire second position information of the second intelligent forklift in real time, and when the distance between the second autonomous mobile robot and the second intelligent forklift is smaller than a set value, a second connection area is determined according to the second position information of the second intelligent forklift at the moment, for example, the position of the second intelligent forklift at the moment is determined to be the second connection area.
In the example, the second autonomous mobile robot automatically realizes the following of the second intelligent forklift position, so that the data transmission time can be reduced, and the control accuracy is improved. Of course, in other examples, the second location information of the second intelligent forklift is obtained, and the execution subject for determining the second connection area according to the second location information may also be scheduling equipment, where the implementation process is similar to the implementation process described above, and will not be described again.
In another possible implementation manner, the second intelligent forklift and the second autonomous mobile robot are connected in a second connection area which is determined in advance, so that the data processing amount is reduced.
Specifically, the cargo handling method further includes sending location information of the second docking area to the second autonomous mobile robot before the second autonomous mobile robot is scheduled to travel to the second docking area. The method further includes sending location information of the second docking area to the second intelligent forklift before scheduling the second intelligent forklift to go to the second docking area. The third scheduling instruction sent by the scheduling device to the second intelligent forklift includes position information of the second docking area, and the fourth scheduling instruction sent by the scheduling device to the second autonomous mobile robot includes position information of the second docking area.
Wherein the second docking zone may be a relatively fixed area in the target roadway, for example at the exit of the second target roadway. Or the second connection area is determined by the scheduling equipment according to the running conditions of the second intelligent forklift and the like in the target tunnel after receiving the goods taking command, so that the influence on the transfer efficiency caused by mutual interference of a plurality of second intelligent forklifts in the target tunnel is avoided.
In some embodiments, the inventory status information of the cargo may also be updated after the second intelligent forklift has removed the cargo from the high-end rack or after the second autonomous mobile robot has transported the cargo to the target area, wherein the inventory status information of the cargo includes at least one of a quantity of the cargo, a category of the cargo, and a date of shipment of the cargo.
For example, taking the category of the goods as a, before the second intelligent forklift takes the goods, the number of the goods a is 2000, and the number of the goods a taken out by the second intelligent forklift is 100, then the number of the goods a after updating is 1900, and the date of taking out the goods a, that is, the date of delivering the goods, is recorded.
For another example, taking the category of the goods as C as an example, before the second intelligent forklift takes the goods, the number of the goods C is 100, and the number of the goods C taken out by the second intelligent forklift is 100, then the number of the goods C after updating is 0, and the date of taking out the goods a, that is, the date of delivering the goods, is recorded. At this time, the goods C and their correspondence with the stock state information may be deleted according to actual needs, or the goods C and their correspondence with the stock state information may be retained.
The implementation procedure of the cargo handling method provided in this embodiment is illustrated below.
The high-order goods shelves, the charging device, the intelligent forklift, the autonomous mobile robot, the dispatching equipment and the like are configured in the warehouse in advance, and the intelligent forklift, the autonomous mobile robot and the like can be in communication connection with the dispatching equipment through a wireless network. Wherein, intelligent fork truck and autonomous mobile robot are a plurality of respectively.
For convenience of description, the intelligent forklift and the autonomous mobile robot in the inventory process are respectively called a first intelligent forklift and a first autonomous mobile robot, the intelligent forklift and the autonomous mobile robot in the pickup process are respectively called a second intelligent forklift and a second autonomous mobile robot, the first intelligent forklift and the second intelligent forklift can be the same intelligent forklift or different intelligent forklifts, and the first autonomous mobile robot and the second autonomous mobile robot can be the same autonomous mobile robot or different autonomous mobile robots.
When the warehouse-in demand exists, after the site staff places the pallet (namely the goods to be stored) in the temporary storage area, the site staff issues an inventory instruction to the dispatching equipment through the man-machine interaction terminal. As shown in fig. 4a, the dispatching device may dispatch the first autonomous mobile robot to transport the cargo to the first docking area, where the first docking area is a roadway junction or a position in a roadway. After the temporary storage area is filled, as shown in fig. 4b, the dispatching equipment can dispatch the first intelligent forklift in the warehouse to be connected and put into the warehouse storage area, and specifically, the dispatching equipment dispatches the first intelligent forklift to be connected with the first autonomous mobile robot and conveys the pallet to the high-level goods shelf. After the warehouse entry is completed, the inventory state is updated.
When a delivery demand exists, on-site staff issues a goods taking instruction to the dispatching equipment through the man-machine interaction terminal. As shown in fig. 4c, the dispatching device dispatches the second intelligent forklift in the corresponding roadway to transport the goods to a second connection area according to the goods taking instruction, wherein the second connection area is a roadway opening or a position of the roadway. As shown in fig. 4d, the dispatching device further dispatches the second autonomous mobile robot to be connected with the second intelligent forklift, and transfers the goods in the second connection area to the temporary storage area. After the delivery is completed, the stock state is updated.
In this embodiment, through the mode of independently moving robot and intelligent fork truck transfer for intelligent fork truck does not go out the tunnel, and intelligent fork truck carries out the getting of high-order goods shelves in the tunnel and puts goods, has improved transportation efficiency, and the cost is reduced has ensured that high-order goods shelves get put goods high flexibility, makes the transport flexibility higher, can be applicable to more transport scenes.
The present embodiment provides a cargo handling device for implementing the cargo handling method in any of the foregoing embodiments, where the points of the embodiment that are the same as those of the foregoing embodiments are not repeated.
Fig. 5 is a schematic structural diagram of a cargo handling device according to an embodiment. Referring to fig. 5, the cargo handling device provided in this embodiment includes:
A dispatching unit 51 for dispatching the first autonomous mobile robot to carry the cargo to a first docking area located in the roadway according to the inventory instruction;
The first control unit 52 is configured to control the first autonomous mobile robot and the first intelligent forklift docked therewith to dock in the first docking area, so as to transfer the cargo to the first intelligent forklift;
and a second control unit 53, configured to control the first intelligent forklift to carry the cargo to the target pallet.
In some examples, the scheduling unit 51 is specifically configured to:
controlling a first autonomous mobile robot to acquire first position information of a first intelligent forklift in butt joint with the first autonomous mobile robot, wherein the first intelligent forklift is positioned in a target roadway;
Controlling a first autonomous mobile robot to determine a first connection area according to first position information of a first intelligent forklift;
The first autonomous mobile robot is controlled to carry cargo to the first docking area.
In some embodiments, the cargo handling device further comprises:
the first sending unit is used for sending the position information of the first connection area to the first autonomous mobile robot;
the second sending unit is used for sending the position information of the first connection area to the first intelligent forklift.
In some embodiments, the cargo handling device further comprises:
The second scheduling unit is used for scheduling a second intelligent forklift in the target roadway to carry the goods stored in the target goods shelf according to the goods taking instruction;
The third control unit is used for controlling the second intelligent forklift to be in butt joint with the second autonomous mobile robot in a second joint area of the target roadway so as to transfer cargoes to the second autonomous mobile robot;
And the fourth control unit is used for controlling the second autonomous mobile robot to carry the goods to a target area outside the roadway.
In some embodiments, the third control unit is specifically configured to:
Controlling a second autonomous mobile robot to acquire second position information of a second intelligent forklift in the target roadway;
controlling a second autonomous mobile robot to determine a second connection area according to second position information of a second intelligent forklift;
And controlling the second autonomous mobile robot to be in butt joint with the second intelligent forklift in a second connection area.
In some embodiments, the cargo handling device further comprises:
a third transmitting unit for transmitting the position information of the second connection area to the second autonomous mobile robot;
And the fourth sending unit is used for sending the position information of the second connection area to the second intelligent forklift.
In some embodiments, the cargo handling device further comprises:
the system comprises an updating unit, a storage unit and a storage unit, wherein the updating unit is used for updating the inventory state information of the goods, and the inventory state information of the goods comprises at least one of the quantity of the goods, the category of the goods, the warehouse-in date of the goods and the warehouse-out date of the goods.
Fig. 6 is a schematic diagram of an apparatus provided in an exemplary embodiment. Referring to fig. 6, the present embodiment further provides an apparatus, which may include a processor 601, a memory 602, an input device 603, and an output device 604. The number of processors 601 in the device may be one or more. In some embodiments, the processor 601, memory 602, input devices 603, and output devices 604 may be connected by a bus or other means.
The memory 602 may be used to store software programs and modules, and the processor 601 performs various functional applications of the device and data processing by executing the software programs and modules stored in the memory 602. The memory 602 may primarily include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for at least one function, and the like. In addition, the memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. The input device 603 may be used to receive input numeric or character information.
In particular, in this embodiment, the processor 601 loads executable files corresponding to the processes of one or more application programs into the memory 602 according to the following instructions, and the processor 601 executes the application programs stored in the memory 602, thereby implementing the various functions of the cargo handling method described above.
The embodiment also provides an automatic carrying system which comprises at least one autonomous mobile robot, at least one intelligent forklift and the equipment in the embodiment, wherein the autonomous mobile robot and the intelligent forklift are respectively in communication connection with the equipment. Wherein the autonomous mobile robot includes the first autonomous mobile robot and the second autonomous mobile robot in the foregoing embodiments. The intelligent forklift comprises the first intelligent forklift and the second intelligent forklift in the previous embodiment.
The present embodiment also provides a computer-readable storage medium having instructions stored therein, which when executed on a terminal device, cause the terminal device to implement the method for handling a trolley in any of the foregoing embodiments.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include an electrical connection (an electronic device) having one or more wires, a portable computer diskette (a magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of techniques known in the art, discrete logic circuits with logic gates for implementing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (9)
1. A method of handling cargo, comprising:
scheduling the first autonomous mobile robot to carry the cargo to a first docking area located in the target roadway according to the inventory instructions;
controlling the first autonomous mobile robot and a first intelligent forklift in butt joint with the first autonomous mobile robot to dock in the first docking area so as to transfer the goods to the first intelligent forklift;
controlling the first intelligent forklift to carry the goods to a target goods shelf, wherein the target goods shelf comprises a high-level goods shelf;
Wherein the dispatching the first autonomous mobile robot to carry cargo to a first docking area located in a target roadway comprises:
Controlling a first autonomous mobile robot to acquire first position information of a first intelligent forklift in butt joint with the first autonomous mobile robot so as to enable the first autonomous mobile robot to follow the position of the first intelligent forklift, wherein the first intelligent forklift is positioned in a target roadway;
When the distance between the first autonomous mobile robot and the first intelligent forklift is smaller than a set value, controlling the first autonomous mobile robot to determine a first connection area according to first position information of the first intelligent forklift;
and controlling a first autonomous mobile robot to carry goods to the first connection area.
2. The method of cargo handling according to claim 1, wherein prior to scheduling the first autonomous mobile robot for the first docking area, the method further comprises:
transmitting position information of a first connection area to the first autonomous mobile robot;
Before scheduling the first intelligent fork truck for the first docking area, the method further comprises:
and sending the position information of the first connection area to the first intelligent forklift.
3. The method of cargo handling according to claim 1, further comprising:
according to the goods taking instruction, a second intelligent forklift in the target roadway is scheduled to carry goods stored in the target goods shelf;
controlling the second intelligent forklift and a second autonomous mobile robot in butt joint with the second intelligent forklift to be in butt joint with a second joint area positioned in the target roadway so as to transfer the goods to the second autonomous mobile robot;
And controlling the second autonomous mobile robot to carry the goods to a target area outside the roadway.
4. The method of claim 3, wherein controlling the second intelligent forklift and the second autonomous mobile robot interfacing therewith to interface in a second interface zone located in the target aisle comprises:
Controlling a second autonomous mobile robot to acquire second position information of the second intelligent forklift in the target roadway;
controlling a second autonomous mobile robot to determine a second connection area according to second position information of the second intelligent forklift;
And controlling the second autonomous mobile robot to be in butt joint with a second intelligent forklift in the second connection area.
5. The method of cargo handling according to claim 3, wherein prior to scheduling the second autonomous mobile robot to travel to the second docking area, the method further comprises:
transmitting position information of the second connection area to the second autonomous mobile robot;
before scheduling the second intelligent fork to travel to the second docking area, the method further comprises:
and sending the position information of the second connection area to the second intelligent forklift.
6. The method of claim 3, wherein after controlling the first intelligent forklift to transport the cargo to a target pallet or after controlling a second intelligent forklift to retrieve the cargo stored on the target pallet, the method further comprises:
and updating the inventory state information of the goods, wherein the inventory state information of the goods comprises at least one of the quantity of the goods, the category of the goods, the warehouse-in date of the goods and the warehouse-out date of the goods.
7. A cargo handling device, comprising:
the dispatching unit is used for dispatching the first autonomous mobile robot to carry cargoes to a first connection area in the roadway according to the inventory instruction;
the first control unit is used for controlling the first autonomous mobile robot and a first intelligent forklift in butt joint with the first autonomous mobile robot to butt joint in the first joint area so as to transfer the goods to the first intelligent forklift;
the second control unit is used for controlling the first intelligent forklift to carry the goods to a target goods shelf;
the dispatching a first autonomous mobile robot to carry cargo to a first docking area located in a target roadway includes:
Controlling a first autonomous mobile robot to acquire first position information of a first intelligent forklift in butt joint with the first autonomous mobile robot so as to enable the first autonomous mobile robot to follow the position of the first intelligent forklift, wherein the first intelligent forklift is positioned in a target roadway;
When the distance between the first autonomous mobile robot and the first intelligent forklift is smaller than a set value, controlling the first autonomous mobile robot to determine a first connection area according to first position information of the first intelligent forklift;
and controlling a first autonomous mobile robot to carry goods to the first connection area.
8. An apparatus comprising a memory storing a computer program and a processor implementing the steps of the method of any one of claims 1 to 6 when the computer program is executed.
9. An automatic handling system comprising at least one autonomous mobile robot, at least one intelligent forklift, and the apparatus of claim 8, wherein the autonomous mobile robot and the intelligent forklift are in communication with the apparatus, respectively.
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| WO2011071941A1 (en) * | 2009-12-07 | 2011-06-16 | Paceco Corp. | Container storage yard transportation system |
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