CN110733820A - Logistics system and logistics control method - Google Patents

Abstract

The embodiment of the present application proposes a logistics system and a logistics control method. The logistics system includes a plurality of shelves, a handling device, an assembly line device, and a plurality of workbenches; each shelf is arranged at intervals, and a roadway is formed between two adjacent shelves; the handling device includes A car body and a bracket, the bracket is arranged on the upper part of the car body, the first side of the bracket is provided with a plurality of bearing parts, and the second side of the bracket is provided with a liftable pickup part; the assembly line device includes a first annular conveying platform, the first annular The conveying table has a plurality of first turnover passages; the plurality of worktables are respectively connected with the first turnover passages, and a sorting station is arranged on the worktable. The multiple carrying parts of the handling device according to the embodiment of the present application can handle more goods at one time, which improves the logistics efficiency of the material system. At the same time, since the assembly line device is used as the transportation medium between the handling device and the workbench, the speed of conveying goods to the workbench is increased, and the logistics efficiency of the material system is further improved.

Description

Logistics system and logistics control method

technical field

The present application relates to the field of logistics, and in particular, to a logistics system and a logistics control method.

Background technique

In the existing logistics system, the handling robot can usually only handle one piece of goods or one material box at a time, so the turnover speed of the goods in the entire storage space is low. Even if the handling robot can carry multiple goods for transportation at one time, due to the limited picking or sorting ability of the docked sorting personnel, the handling robot needs to wait in place before completing the picking or sorting of all goods, and cannot carry out other tasks. work, reducing the working efficiency of the handling robot. In addition, the above two problems also make the operation process of the entire logistics system unable to be smoothly connected, which reduces the working time and cost of the entire logistics system.

The above information disclosed in this Background section is only for enhancement of understanding of the background of the application and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a logistics system and a logistics control method to solve one or more technical problems in the background art.

In the first aspect, the embodiments of the present application provide a logistics system, including:

Multiple shelves, each shelf is arranged at intervals, and a roadway is formed between two adjacent shelves;

The handling device includes a vehicle body and a bracket, the bracket is arranged on the upper part of the vehicle body, the first side of the bracket is provided with a plurality of bearing parts, the second side of the bracket is provided with a lifting and lifting part, and the transportation device is used for carrying goods from the shelf to the assembly line device;

an assembly line device, comprising a first annular conveying table, and the first annular conveying table has a plurality of first circulation passages;

A plurality of workbenches are respectively connected with each first turnover channel, and a sorting station is arranged on the workbench, and the sorting station is used for sorting the goods on the corresponding first turnover channel.

In one embodiment, the bearing parts are stacked in sequence along the height direction of the bracket, and the open end of the accommodating cavity of each bearing part is arranged toward the second side.

In one embodiment, the pickup part includes a support plate, and the support plate is slidably connected with the accommodating cavity of each support part.

In one embodiment, the first annular conveying table further has a plurality of first feeding channels and a plurality of first discharging channels.

In one embodiment, the assembly line device further includes a second annular conveying platform located above the first annular conveying platform, the second annular conveying platform has a plurality of second circulation passages, and each second circulation passage is respectively connected to each working table.

In one embodiment, the second annular conveying table further has a plurality of second feeding channels and a plurality of second discharging channels.

In one embodiment, the first annular conveying table has at least two first circulation passages with different diameters.

In the second aspect, the embodiments of the present application provide a logistics control method, which is applied to the logistics system of the first aspect, including:

Sending a first fetching instruction to the first handling device to control the first handling device to move to the shelf to fetch multiple items, and use the fetching part to store each item in each carrying part;

According to the feedback result of the goods storage received from the first conveying device, a first conveying instruction is sent to the first conveying device to control the first conveying device to move to the assembly line device, and the goods are placed on the first circular conveying table by the picking part on the first annular conveying platform to convey the goods to the corresponding first turnover channel;

According to the detection result of the goods received from the first turnover channel, a sorting instruction is sent to the workbench to control the sorting station of the workbench to grab the first goods to be sorted from the corresponding first turnover channel.

In one embodiment, the logistics control method further includes:

Send a replenishment instruction to the workbench to control the sorting station to place the second goods to be replenished to the shelves on the second turnover channel, so that the second turnover channel transports the second goods to the second annular conveying platform;

Send a second fetching instruction to the second handling device to control the second handling device to move to the assembly line device, and use the fetching part of the second handling device to store the second cargo on the second annular conveying platform to the second handling device on the bearing part;

According to the goods storage feedback result received from the second conveying device, a second conveying instruction is sent to the second conveying device to control the second conveying device to move to the rack, and use the pickup part to store the second goods to the rack.

In one embodiment, the logistics control method further includes:

In the case that the sorting of the first goods is completed, a turnover instruction is sent to the workbench to control the sorting station to place the remaining goods on the first turnover channel on the second turnover channel, so that the second turnover channel will remove the remaining goods. conveyed to the second annular conveying table;

Send a third picking instruction to the second transporting device to control the second transporting device to move to the assembly line device, and use the picking part of the second transporting device to place the remaining goods on the second annular conveying table to the second transporting device. on the bearing part;

According to the goods storage feedback result received from the second conveying device, a third conveying instruction is sent to the second conveying device to control the second conveying device to move to the rack, and use the pickup part to store the remaining goods to the rack.

In a third aspect, an embodiment of the present application provides a logistics control device, including:

a first sending module, configured to send a first picking instruction to the first handling device, so as to control the first handling device to move to the shelf to pick up a plurality of goods, and use the picking part to store each goods in each carrying part;

The second sending module is configured to send a first handling instruction to the first handling device according to the feedback result of the goods storage received from the first handling device, so as to control the first handling device to move to the assembly line device, and utilize the retrieval result of the first handling device. The cargo section places the goods on the first annular conveying table, so that the first annular conveying table conveys the goods to the corresponding first turnover channel;

The third sending module is used for sending sorting instructions to the workbench, so as to control the sorting station of the workbench to grab the first goods to be sorted from the corresponding first turnover channel.

In one embodiment, the logistics control device further includes:

The fourth sending module is used to send replenishment instructions to the workbench to control the sorting station to place the second goods to be replenished to the shelves on the second turnover channel, so that the second turnover channel can transport the second goods to the second annular conveying table;

The fifth sending module is used for sending a second picking instruction to the second transporting device, so as to control the second transporting device to move to the assembly line device, and use the picking part of the second transporting device to send the second picking part on the second circular conveying table. The goods are stored on the bearing part of the second handling device;

The sixth sending module is configured to send a second handling instruction to the second handling device according to the feedback result of the goods storage received from the second handling device, so as to control the second handling device to move to the shelf, and use the pickup part to remove the second cargo Store on shelf.

In one embodiment, the logistics control device further includes:

The seventh sending module is used to send a turnover instruction to the workbench when the sorting of the first goods is completed, so as to control the sorting station to place the remaining goods on the first turnover channel on the second turnover channel, so that the The second turnover channel conveys the remaining goods to the second annular conveying platform;

The eighth sending module is used for sending a third picking instruction to the second transporting device, so as to control the second transporting device to move to the assembly line device, and use the picking part of the second transporting device to transport the remaining goods on the second annular conveying table Put it on the bearing part of the second conveying device;

The ninth sending module is configured to send a third handling instruction to the second handling device according to the feedback result of the goods storage received from the second handling device, so as to control the second handling device to move to the shelf, and use the pickup part to store the remaining goods to the shelf.

In a fourth aspect, an embodiment of the present application provides a logistics control terminal, and the functions of the logistics control terminal can be implemented by hardware, or by executing corresponding software in hardware. The hardware or software includes one or more modules corresponding to the above functions.

In a possible design, the structure of the logistics control terminal includes a processor and a memory, the memory is used to store a program that supports the logistics control terminal to execute the above-mentioned logistics control method, and the processor is configured to The program stored in the memory is executed. The logistics control terminal may also include a communication interface for communicating with other devices or a communication network.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium for storing computer software instructions used by a logistics control terminal, which includes a program for executing the above-mentioned logistics control method.

One of the above technical solutions has the following advantages or beneficial effects: the multiple carrying parts of the handling device of the embodiment of the present application can handle more goods at one time, which improves the logistics efficiency of the material system. At the same time, since the assembly line device is used as the transportation medium between the handling device and the workbench, the speed of conveying goods to the workbench is increased, and the logistics efficiency of the material system is further improved.

The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present application will become apparent by reference to the drawings and the following detailed description.

Description of drawings

In the drawings, unless stated otherwise, the same reference numbers refer to the same or like parts or elements throughout the several figures. The drawings are not necessarily to scale. It should be understood that these drawings depict only some embodiments disclosed in accordance with the present application and should not be considered as limiting the scope of the present application.

FIG. 1 shows a structural diagram of a logistics system according to an embodiment of the present application.

FIG. 2 shows a structural diagram of a handling device of a logistics system according to an embodiment of the present application.

FIG. 3 shows a working state structure diagram of a handling device and a rack of a logistics system according to an embodiment of the present application.

FIG. 4 shows a structural diagram of a first annular conveying platform of a logistics system according to an embodiment of the present application.

FIG. 5 shows a structural diagram of the second annular conveying platform of the logistics system according to the embodiment of the present application.

FIG. 6 shows a flowchart of a logistics control method according to an embodiment of the present application.

FIG. 7 shows a flow chart of another method for controlling logistics according to an embodiment of the present application.

FIG. 8 shows a flow chart of another logistics control method according to an embodiment of the present application.

FIG. 9 shows a structural block diagram of a logistics control device according to an embodiment of the present application.

FIG. 10 shows a structural block diagram of a logistics control device according to another embodiment of the present application.

FIG. 11 shows a structural block diagram of a logistics control device according to another embodiment of the present application.

FIG. 12 shows a schematic structural diagram of a logistics control terminal according to an embodiment of the present application.

Detailed ways

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not restrictive.

FIG. 1 shows a structural diagram of a logistics system according to an embodiment of the present application. As shown in FIG. 1 , the logistics system includes a plurality of racks 1 , at least one conveying device 2 , an assembly line device 3 and a plurality of workbenches 4 .

A plurality of shelves 1 are arranged at intervals, and a roadway 11 is formed between two adjacent shelves 1 . The roadway 11 is used for the movement of the conveying device 2 . The shape and structure of the shelf 1 and the storage capacity of the goods 100 can be selected and adjusted as required.

The transport device 2 includes a vehicle body 21 and a bracket 22 (as shown in FIG. 2 ). The bracket 22 is disposed on the upper part of the vehicle body 21 , and a plurality of bearing parts 23 are disposed on the first side 221 of the bracket 22 . The second side 222 of the bracket 22 is provided with a liftable pickup portion 24 . The transport device 2 is used to transport the goods 100 from the rack 1 to the assembly line device 3 (shown in FIG. 3 ).

It should be noted that, the number of the transporting devices 2 can be selected and adjusted according to the rack 1, the goods 100 or the transport capacity requirements of the logistics system. The structure of the vehicle body 21 can be selected as required, for example, a mobile robot or an automated guided vehicle (AGV, Automated Guided Vehicle,), etc., which are not specifically limited herein.

The assembly line device 3 includes at least one first annular conveying stage 31 (as shown in FIG. 4 ), and the first annular conveying stage 31 has a plurality of first circulation passages 32 . In one example, each first circulation channel 32 communicates with the conveyor belt 33 of the first endless conveying platform 31 , so as to realize the conveyance of the goods 100 located on the conveyor belt 33 into the first circulation channel 32 . The number of the first annular conveying platform 31 can be selected and adjusted according to the transportation capacity requirements of the logistics system.

The plurality of workbenches 4 are respectively connected to the first turnover passages 32 , and a sorting station 41 is provided on the workbench 4 , and the sorting station 41 is used for picking the goods 100 on the corresponding first turnover passages 32 . The number of the workbenches 4 can be set according to the length of the first circulation channel 32 . The arrangement position of the work table 4 can be set according to the relative position of the assembly line device 3 and each rack 1 . For example, when each rack 1 is provided on one side in the length direction of the assembly line device 3 , the table 4 may be disposed on the other side in the length direction of the assembly line device 3 . The process of performing the sorting of goods can be performed by the mechanical grabbing arm on the sorting station 41, or manually on the sorting station 41, or by the mechanical grabbing arm and manual labor on the sorting station 41. The sorting operation of the goods 100 is performed together. The sorting performed by the sorting station 41 may be understood as sorting, sorting, general sorting or secondary sorting of the goods 100 , which is not specifically limited herein.

In one example, cargo 100 may include material packages, items, bins carrying items, and the like.

In one embodiment, as shown in FIG. 2 , each carrying portion 23 is stacked in sequence along the height direction of the bracket 22 , and the open end of the accommodating cavity of each carrying portion 23 is disposed toward the second side 222 , so as to facilitate the pickup portion 24 The goods 100 in the accommodating cavity of the carrying portion 23 can be taken out through the open end.

In one embodiment, the pickup portion 24 includes a support plate 231 for carrying the goods 100 . The support plate 231 is slidably connected with the accommodating cavity of each support portion.

In one example, a frame is vertically disposed on the first side 221 of the bracket 22 , and a plurality of lattice openings are disposed in the frame along the height direction, and each lattice opening constitutes the bearing portion 23 . The picking part 24 is connected with the bracket 22 through a lifting mechanism, so as to realize the lifting movement along the vertical direction. The bottom of each compartment is provided with a sliding rail, and the pick-up part 24 is matched with the sliding rail. After the pick-up part 24 is moved to the corresponding grid port position by the lifting mechanism, the pick-up part 24 is slid into the slide rail and the goods 100 are lifted up by the sliding mechanism, and then the pick-up part 24 is slid out by the sliding mechanism. rail to remove the cargo 100 from the compartment.

In an embodiment, as shown in FIGS. 1 and 4 , the first annular conveying table 31 further has a plurality of first feeding channels 34 and a plurality of first discharging channels 35 . The first feeding channel 34 is used for conveying the goods 100 loaded on the handling device 2 to the conveying belt 33 of the first endless conveying platform 31 . The first discharge channel 35 is used for conveying the goods 100 on the conveyor belt 33 of the first endless conveying table 31 to the handling device 2 .

It should be noted that, according to different material conveying strategies, the first feeding channel 34 and the first discharging channel 35 can also be used as the first discharging channel 35 and the first discharging channel 35 can also be used as the first discharging channel 35. The first feed channel 34 .

In one example, in order to enable the handling device 2 to move between the assembly line device 3 and the rack 1 through the shortest driving distance, part of the first feeding channel 34 and part of the first discharging channel 35 may be respectively corresponding to each lane 11 , so that the transport device 2 can transport the goods 100 on the rack 1 to the assembly line device 3 more quickly, or transport the goods 100 on the assembly line device 3 to the rack 1 faster.

In one embodiment, as shown in FIG. 5 , the assembly line device 3 further includes at least one second annular conveying stage 36 located above the first annular conveying stage 31 . The second endless conveying table 36 has a plurality of second circulating passages 37 . Each of the second circulation passages 37 is connected to each of the tables 4 , respectively. The sorting station 41 of the workbench 4 is used for sorting the goods 100 on the corresponding second turnover channel 37 . The number of the second annular conveying platform 36 can be selected and adjusted according to the transportation capacity requirements of the logistics system.

In one example, the sorting station 41 of the workbench 4 can sort the goods 100 on the corresponding first circulation aisle 32 and/or the second circulation aisle 37 , and can also sort the goods 100 on the corresponding first circulation aisle 32 and/or the second circulation aisle 37 . /or the goods 100 are placed on the second turnover channel 37 . That is to say, the goods 100 on the conveyor belts 33 of the first circulation passage 32 and/or the second circulation passage 37 may be placed by the handling device 2 or by the sorting station 41 .

In one embodiment, as shown in FIG. 5 , the second annular conveying platform 36 further has a plurality of second feeding channels 38 and a plurality of second discharging channels 39 . The second feeding channel 38 is used for conveying the goods 100 loaded on the handling device 2 to the conveying belt 33 of the second endless conveying platform 36 . The second discharge channel 39 is used for conveying the goods 100 on the conveyor belt 33 of the second endless conveying table 36 to the handling device 2 .

It should be noted that, according to different material conveying strategies, the second feeding channel 38 can also be used as the second discharging channel 39 , and the second discharging channel 39 can also be used as the second feeding channel 38 .

In one example, in order to enable the handling device 2 to move between the assembly line device 3 and the rack 1 through the shortest driving distance, part of the second feeding channel 38 and part of the second discharging channel 39 may be respectively corresponding to each lane 11 , so that the transport device 2 can transport the goods 100 on the rack 1 to the assembly line device 3 more quickly, or transport the goods 100 on the assembly line device 3 to the rack 1 faster.

In one example, the first annular conveying table 31 and the second annular conveying table 36 can be used in cooperation to improve the working efficiency of the entire assembly line device 3 . For example, the goods 100 conveyed by the first annular conveying table 31 are used for sorting by the workbench 4 , and the goods 100 conveyed by the second annular conveying table 36 are used for replenishing the racks 1 by the handling device 2 .

In one embodiment, the first annular conveying table 31 has at least two first circulation passages 32 with different diameters. The first circulation passages 32 of different diameters can be adapted to different sizes of the goods 100, so that the goods 100 of various sizes can automatically enter into the first circulation passages 32 of the corresponding diameters during the conveying process by the conveyor belt 33, and reach the first circulation passage 32 of the corresponding diameter. Workbench 4 connected to the first circulation channel 32 . The work flow connection between the workbench 4 and the assembly line device 3 is made smoother.

In one embodiment, the second annular conveying table 36 has at least two second circulation passages 37 with different diameters. The second circulation passages 37 of different diameters can be adapted to different sizes of the goods 100, so that the goods 100 of various sizes can automatically enter the second circulation passages 37 of the corresponding diameters during the conveying process by the conveyor belt 33, and reach the second circulation passage 37 of the corresponding diameter. At the workbench 4 connected to the second circulation channel 37 . The work flow connection between the workbench 4 and the assembly line device 3 is made smoother.

In an example, a first detection device is provided on the first annular conveying platform 31 , and the first detection device determines the first circulation channel 32 to which each commodity 100 needs to be transported by scanning the identification code on the commodity 100 . After determining the first turnover channel 32 to which the goods 100 need to be transported, the goods 100 can be transferred from the conveyor belt 33 to On the first circulation channel 32 connected with the corresponding workbench 4 . A first detection device and a shifting fork may also be provided on the second annular conveying platform 36, which will not be repeated here.

In one example, the handling device 2 is provided with a second detection device, and the second detection device determines the target cargo 100 by scanning the identification code on the cargo 100 . The target goods 100 may be the goods 100 located on the rack 1 , or may be the goods 100 located on the first endless conveying platform 31 or the second endless conveying platform 36 .

In one example, the logistics system may further include a control unit, which is electrically connected to the handling device 2 and the workbench 4 . The control unit can be used to control the handling device 2 to pick up the goods 100 from the rack 1 and transport it to the assembly line device 3 , and can be used to control the handling device 2 to take off the goods 100 on the assembly line device 3 and transport it to the rack 1 . The control unit can also be used to control the workbench 4 to sort the goods 100 conveyed on the assembly line device 3 , and can be used to place the goods 100 on the assembly line device 3 .

In the second aspect, the embodiment of the present application provides a logistics control method, which is applied to the logistics system of any of the above-mentioned embodiments. As shown in FIG. 6 , the logistics control method includes:

S100: Send a first picking instruction to the first conveying device, so as to control the first conveying device to move to the rack to pick up a plurality of goods, and use the picking part to store each goods in each carrying part.

The first picking instruction may include shelf information and cargo information. The rack information is used for the first conveyance device to determine a target rack. The cargo information is used to enable the picking part of the first conveying device to determine the specific position of the target cargo on the target rack. The first conveying device can take a plurality of goods on one shelf, or can take a plurality of goods from a plurality of shelves respectively. The rack specifically allocated to the first handling device depends on the first pickup instruction.

S200: Send a first conveyance instruction to the first conveyance device according to the goods storage feedback result received from the first conveyance device, so as to control the first conveyance device to move to the assembly line device, and use the pick-up part of the first conveyance device to remove the goods Put it on the first annular conveying platform, so that the first annular conveying platform can convey the goods to the corresponding first circulation channel.

The cargo storage feedback result may be sent by the first handling device. The goods storage feedback result may include feedback information that the goods have been stored in the carrying portion, and may also include feedback information of the number of free carrying portions currently possessed by the first handling device.

S300: Send a sorting instruction to the workbench according to the detection result of the goods received from the first turnover channel, so as to control the sorting station of the workbench to grab the first goods to be sorted from the corresponding first turnover channel. The goods detection result is sent when the first turnaround lane detects the presence of goods thereon that are conveyed by the first endless conveying table.

In one embodiment, as shown in Figure 7, the logistics control method further includes:

S400: Send a replenishment instruction to the workbench to control the sorting station to place the second goods on the second circulation passage of the second circular conveying platform, so that the second circulation passage can transport the second goods to the second circular conveying platform .

The second goods may be goods on the first endless conveyor that are not sorted by the work table. The second goods may also be goods taken from the outside by the workbench and need to be added to the shelves.

S500: Send a second fetching instruction to the second handling device to control the second handling device to move to the assembly line device, and use the fetching part of the second handling device to store the second cargo on the second annular conveying table to the second on the carrier of the carrier.

S600: Send a second conveyance instruction to the second conveyance device according to the goods storage feedback result received from the second conveyance device, so as to control the second conveyance device to move to the rack, and use the pickup part to store the second goods to the rack.

The cargo storage feedback result may be sent by the second handling device. The goods storage feedback result may include feedback information that the goods have been stored in the carrying portion, and may also include feedback information of the number of free carrying portions currently possessed by the second handling device.

The second handling instruction may include shelf information and cargo information. The rack information is used for the second conveyance device to determine the target rack. The cargo information is used for the picking part of the second conveying device to determine the specific position of the target cargo on the target rack. The second conveying device can store a plurality of goods on one shelf, or can store a plurality of goods on a plurality of shelves respectively. The racks specifically assigned to the second handling device depend on the second handling instruction.

In one example, the logistics control method includes:

According to the material box order, the control unit determines the shelf where the material box is located, the specific location on the shelf and the stock quantity.

The first picking instruction is generated according to the shelf where the material box is located, the specific location on the shelf, and the stock quantity.

According to the position of the rack where the material box is located, the lane corresponding to the rack is determined, and a first transport device is selected from a plurality of transport devices. The strategy for selecting the first conveying device may be determined according to the travel path of the conveying device, or may be determined according to the number of idle bearing parts of the conveying device.

Send a first pickup instruction to the first handling device. The first conveying device moves to the shelf to pick up a plurality of bins according to the first picking instruction, and uses the pick-up part to store the bins in each carrying part.

The first conveying device sends to the control unit a feedback result that the person who has completed picking up the goods, or a feedback result that there is no idle carrying part.

The control unit sends a first conveyance instruction to the first conveyance device according to the feedback result of the storage of the container of the first conveyance device. The first conveying device moves to the assembly line device according to the first conveying instruction, and uses the pick-up part to place each material box on the first annular conveying table, so that the first annular conveying table conveys each material box to the corresponding first turnover channel , and transported to the corresponding workbench through the corresponding first turnover channel.

Send sorting instructions to the workbench. According to the order information in the sorting instruction, the workbench grabs the first material box to be sorted from the corresponding first turnover channel, and sorts the goods in the first material box.

After the workbench completes the sorting task, it sends feedback results to the control unit, and the control unit sends replenishment instructions to the workbench according to the feedback results.

According to the replenishment instruction, the workbench controls the sorting station to place the second goods on the second circulation passage of the second annular conveying platform, so that the second circulation passage conveys the second goods to the second circular conveying platform.

Send a second fetching instruction to the second handling device, the second handling device moves to the assembly line device according to the second fetching instruction, and uses the fetching part of the second handling device to store the second goods on the second annular conveying platform to on the carrying part of the second conveying device.

According to the feedback result of the cargo storage of the second conveying device, the control unit sends a second conveying instruction to the second conveying device. The second conveyance device moves to the rack according to the second conveyance instruction, and stores the second goods on the rack by the pickup unit.

In one example, the logistics control method includes:

According to the replenishment order, the control unit determines the material box to be replenished, the replenishment shelf and the replenishment location on the shelf.

According to the material box to be replenished, the replenishment shelf, and the replenishment location on the shelf, a second pickup instruction is generated.

According to the position of the rack where the material box is located, the lane corresponding to the rack is determined, and a second transport device is selected from a plurality of transport devices.

The sorting station of the control table places the totes to be replenished on the second circular conveyor.

Send a second fetching instruction to the second handling device, the second handling device moves to the assembly line device according to the second fetching instruction, and uses the fetching part of the second handling device to store the second goods on the second annular conveying platform to on the carrying part of the second conveying device.

According to the feedback result of the cargo storage of the second conveying device, the control unit sends a second conveying instruction to the second conveying device. The second conveyance device moves to the rack according to the second conveyance instruction, and stores the second goods on the rack by the pickup unit.

In one embodiment, as shown in Figure 8, the logistics control method further includes:

S700: Send a replenishment instruction to the workbench to control the sorting station to place the second goods to be replenished to the shelves on the second turnover channel, so that the second turnover channel transports the second goods to the second annular conveying platform .

S800: Send a second picking instruction to the second transporting device to control the second transporting device to move to the assembly line device, and use the picking part of the second transporting device to store the second cargo on the second annular conveying table to the second transporting device on the carrier of the carrier.

S900: Send a second conveyance instruction to the second conveyance device according to the goods storage feedback result received from the second conveyance device, so as to control the second conveyance device to move to the rack, and use the pickup part to store the second goods to the rack.

In a third aspect, an embodiment of the present application provides a logistics control device, as shown in FIG. 9 , including:

The first sending module 10 is configured to send a first picking instruction to the first handling device, so as to control the first handling device to move to the shelf to pick up multiple goods, and use the picking part of the first handling device to store the goods in the rack. in each carrier.

The second sending module 20 is configured to send a first conveying instruction to the first conveying device according to the feedback result of goods storage received from the first conveying device, so as to control the first conveying device to move to the assembly line device, and use the picking part to The goods are placed on the first annular conveying table, so that the first annular conveying table conveys each goods to the corresponding first circulation channel.

The third sending module 30 is configured to send a sorting instruction to the workbench according to the detection result of the goods received from the first turnover channel, so as to control the sorting station of the workbench to grab the required items from the corresponding first turnover channel The first cargo to be sorted.

In one embodiment, as shown in Figure 10, the logistics control device further includes:

The fourth sending module 40 is used to send a replenishment instruction to the workbench, so as to control the sorting station to place the second goods to be replenished to the shelves on the second turnover channel, so that the second turnover channel can transport the second goods to the second endless conveyor.

The fifth sending module 50 is configured to send a second picking instruction to the second transporting device, so as to control the second transporting device to move to the assembly line device, and use the picking part of the second transporting device to send the first order on the second annular conveying table. The two goods are stored on the bearing part of the second conveying device.

The sixth sending module 60 is configured to send a second handling instruction to the second handling device according to the feedback result of the goods storage received from the second handling device, so as to control the second handling device to move to the shelf, and use the picking part to send the second handling device to the second handling device. The goods are stored on the shelves.

In one embodiment, as shown in Figure 11, the logistics control device further includes:

The seventh sending module 70 is configured to send a turnover instruction to the workbench when the sorting of the first goods is completed, so as to control the sorting station to place the remaining goods on the first turnover channel on the second turnover channel, The second turnaround channel is made to convey the remaining goods to the second endless conveying table.

The eighth sending module 80 is configured to send a third picking instruction to the second transporting device, so as to control the second transporting device to move to the assembly line device, and use the picking part of the second transporting device to remove the remaining goods on the second annular conveying table The goods are placed on the carrying portion of the second conveying device.

The ninth sending module 90 is configured to send a third handling instruction to the second handling device according to the feedback result of the goods storage received from the second handling device, so as to control the second handling device to move to the shelf, and use the pickup part to remove the remaining goods Store on shelf.

For the functions of each module in each device in this embodiment of the present application, reference may be made to the corresponding description in the foregoing method, and details are not described herein again.

FIG. 12 shows a structural block diagram of a logistics control terminal according to an embodiment of the present application. As shown in FIG. 12 , the terminal includes: a memory 910 and a processor 920 , and a computer program that can be executed on the processor 920 is stored in the memory 910 . When the processor 920 executes the computer program, the logistics control method in the above embodiment is implemented. The number of the memory 910 and the processor 920 may be one or more.

The terminal also includes:

The communication interface 930 is used to communicate with external devices and perform data interactive transmission.

The memory 910 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

If the memory 910, the processor 920 and the communication interface 930 are independently implemented, the memory 910, the processor 920 and the communication interface 930 may be connected to each other through a bus and complete communication with each other. The bus may be an Industry Standard Architecture (ISA, Industry Standard Architecture) bus, a Peripheral Component Interconnect (PCI, Peripheral Component Interconnect) bus, or an Extended Industry Standard Architecture (EISA, Extended Industry Standard Architecture) bus or the like. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is shown in FIG. 12, but it does not mean that there is only one bus or one type of bus.

Optionally, in specific implementation, if the memory 910, the processor 920 and the communication interface 930 are integrated on one chip, the memory 910, the processor 920 and the communication interface 930 can communicate with each other through an internal interface.

An embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the program is executed by a processor, implements any of the methods in the foregoing embodiments.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present application. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present application, "plurality" means two or more, unless otherwise expressly and specifically defined.

Any description of a process or method in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a specified logical function or step of the process , and the scope of the preferred embodiments of the present application includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present application belong.

The logic and/or steps represented in flowcharts or otherwise described herein, for example, may be considered an ordered listing of executable instructions for implementing the logical functions, may be embodied in any computer-readable medium, For use with, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions from an instruction execution system, apparatus, or apparatus) or equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or apparatus. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read Only Memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Read Only Memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, followed by editing, interpretation, or other suitable medium as necessary process to obtain the program electronically and then store it in computer memory.

It should be understood that various parts of this application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.

Those skilled in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, one or a combination of the steps of the method embodiment is included.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the technical field disclosed in the present application can easily think of various changes or Replacement, these should be covered within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims (15)

1. a logistics system, is characterized in that, comprises: A plurality of shelves, each of which is arranged at intervals, and a roadway is formed between two adjacent shelves; The handling device includes a vehicle body and a bracket, the bracket is arranged on the upper part of the vehicle body, a first side of the bracket is provided with a plurality of bearing parts, and a second side of the bracket is provided with a liftable pickup part, the handling device is used for handling goods from the rack to the assembly line device; The assembly line device includes a first annular conveying table, and the first annular conveying table has a plurality of first circulation passages; A plurality of workbenches are respectively connected to each of the first turnover channels, and a sorting station is arranged on the workbench, and the sorting stations are used for sorting the goods on the corresponding first turnover channel. 2 . The logistics system according to claim 1 , wherein each of the bearing parts is stacked in sequence along the height direction of the bracket, and the open end of the accommodating cavity of each of the bearing parts is arranged toward the second side. 3 . . 3 . The logistics system according to claim 2 , wherein the picking part comprises a supporting plate, and the supporting plate is slidably connected with the accommodating cavity of each supporting part. 4 . 4 . The logistics system according to claim 1 , wherein the first annular conveying platform further has a plurality of first feeding channels and a plurality of first discharging channels. 5 . 5 . The logistics system according to claim 1 , wherein the assembly line device further comprises a second annular conveying stage located above the first annular conveying stage, the second annular conveying stage having a plurality of second annular conveying stages. 6 . A turnover channel, each of the second turnover channels is respectively connected with each of the workbenches. 6 . The logistics system according to claim 5 , wherein the second annular conveying platform further has a plurality of second feeding channels and a plurality of second discharging channels. 7 . 7 . The logistics system according to claim 1 , wherein the first annular conveying platform has at least two first circulation passages with different diameters. 8 . 8. A logistics control method, applied to the logistics system described in any one of claims 1-7, is characterized in that, comprising: Sending a first fetching instruction to a first handling device to control the first handling device to move to a shelf to fetch a plurality of goods, and use the fetching part to store each of the goods in each carrying part; According to the goods storage feedback result received from the first conveying device, a first conveying instruction is sent to the first conveying device to control the first conveying device to move to the assembly line device, and to move by the first conveying device The pick-up part of the device places each of the goods on the first annular conveying table, so that the first annular conveying table conveys each of the goods to the corresponding first circulation channel; According to the detection result of the goods received from the first turnover channel, a sorting instruction is sent to the workbench, so as to control the sorting station of the workbench to grab the No. 1 to be sorted from the corresponding first turnover channel. a cargo. 9. logistics control method according to claim 8, is characterized in that, also comprises: Send a replenishment instruction to the workbench, so as to control the sorting station to place the second goods to be replenished to the shelf on the second turnover channel, so that the second turnover channel will The goods are conveyed to the second annular conveying platform; Send a second picking instruction to the second conveying device to control the second conveying device to move to the assembly line device, and use the picking part of the second conveying device to remove all the items on the second annular conveying table. the second cargo is stored on the bearing part of the second conveying device; According to the goods storage feedback result received from the second conveying device, a second conveying instruction is sent to the second conveying device, so as to control the second conveying device to move to the rack, and use the pickup part to The second goods are stored in the rack. 10. logistics control method according to claim 8, is characterized in that, also comprises: In the case that the sorting of the first goods is completed, a turnover instruction is sent to the workbench to control the sorting station to place the remaining goods on the first turnover passage on the second turnover passage, causing the second turnaround channel to transport the remaining goods to a second annular conveying platform; Send a third picking instruction to the second conveying device to control the second conveying device to move to the assembly line device, and use the picking part of the second conveying device to remove all the items on the second annular conveying table. Putting the remaining goods on the bearing part of the second conveying device; According to the goods storage feedback result received from the second conveying device, a third conveying instruction is sent to the second conveying device, so as to control the second conveying device to move to the rack, and use the pickup part to The remaining goods are stored in the rack. 11. A logistics control device, characterized in that, comprising: The first sending module is configured to send a first picking instruction to the first handling device, so as to control the first handling device to move to the shelf to pick up a plurality of goods, and use the picking part to store each of the goods on each carrier Ministry; The second sending module is configured to send a first handling instruction to the first handling device according to the feedback result of the cargo storage of the first handling device, so as to control the first handling device to move to the assembly line device, and use the The picking part of the first handling device places each of the goods on the first annular conveying platform, so that the first annular conveying platform conveys each of the goods to the corresponding first circulation channel; The third sending module is configured to send a sorting instruction to the workbench according to the detection result of the goods received from the first turnover channel, so as to control the sorting station of the workbench from the corresponding first turnover channel Grab the first item to be sorted. 12. The logistics control device according to claim 11 , further comprising: The fourth sending module is configured to send a replenishment instruction to the workbench, so as to control the sorting station to place the second goods to be replenished to the racks on the second turnover channel, so that the second The turnaround passage conveys the second goods to the second annular conveying platform; The fifth sending module is used for sending a second picking instruction to the second transporting device, so as to control the second transporting device to move to the assembly line device, and use the picking part of the second transporting device to The second goods on the two annular conveying platforms are stored on the bearing portion of the second conveying device; a sixth sending module, configured to send a second handling instruction to the second handling device according to the feedback result received from the second handling device, so as to control the second handling device to move to the rack, and The second cargo is stored on the rack by the pickup portion. 13. The logistics control device according to claim 11 , further comprising: A seventh sending module, configured to send a turnover instruction to the workbench when the sorting of the first goods is completed, so as to control the sorting station to place the remaining goods on the first turnover channel onto the second circulation passage, so that the second circulation passage conveys the remaining goods to the second annular conveying platform; The eighth sending module is used for sending a third picking instruction to the second transporting device, so as to control the second transporting device to move to the assembly line device, and use the picking part of the second transporting device to The remaining goods on the second annular conveying platform are placed on the bearing part of the second conveying device; A ninth sending module, configured to send a third handling instruction to the second handling device according to the feedback result received from the second handling device, so as to control the second handling device to move to the rack, and The remaining goods are stored in the rack by the pickup part. 14. A logistics control terminal, characterized in that, comprising: one or more processors; a storage device for storing one or more programs; The one or more programs, when executed by the one or more processors, cause the one or more processors to implement a method as claimed in any one of claims 8 to 10. 15. A computer-readable storage medium storing a computer program, characterized in that, when the program is executed by a processor, the method according to any one of claims 8 to 10 is implemented.

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