CN112046983B

CN112046983B - Primary and secondary transfer boxes and logistics system and method based on primary and secondary transfer boxes

Info

Publication number: CN112046983B
Application number: CN202010809338.7A
Authority: CN
Inventors: 久恒理树
Original assignee: Riki Kutsune
Current assignee: Riki Kutsune
Priority date: 2020-08-12
Filing date: 2020-08-12
Publication date: 2022-08-12
Anticipated expiration: 2040-08-12
Also published as: CN112046983A

Abstract

The invention relates to a primary and secondary turnover box and a logistics system and a method based on the primary and secondary turnover box, wherein the primary and secondary turnover box comprises a first body, a sorting catch and a first identity label, the first body is provided with a box opening and a corresponding box cover, and the box cover is locked and closed with the first body through one or more locks; the sorting catch is arranged on the first body or the box cover; the first identity label at least records the identity information of the sub-turnover box and the logistics information of the built-in goods. The parent tote comprises a second body configured to house one or more child totes, a handling structure, and a second identity tag; the carrying structure is arranged on the second body and matched with the object moving device; the second identity tag at least records the association information of the parent turnover box and the position of the parent turnover box. The invention adopts the reusable primary and secondary turnover boxes in the logistics system, thereby saving the packaging material of the goods, accelerating the transfer of the goods and improving the logistics efficiency.

Description

Primary and secondary transfer boxes and logistics system and method based on primary and secondary transfer boxes

Technical Field

The invention relates to the technical field of logistics storage, in particular to a primary and secondary turnover box, a logistics system based on the primary and secondary turnover box and a logistics method based on the primary and secondary turnover box.

Background

Under the double promotion of science and technology and economy, the logistics industry is developing at an unprecedented speed, and great convenience is brought to production and life of people. In the process of moving goods from a production place to a consumption place, the goods are subjected to various transportation scenes in each link of circulation, and in order to avoid damage to the goods in the transportation process, the goods need to be packaged by adopting different packaging means according to the properties of the goods. For example, for some common small goods, they are packaged by cardboard boxes, plastic bags, tapes, hot melt adhesives, etc., and they are filled with fillers to prevent the goods from shaking in the cardboard boxes. Special packaging, such as custom-shaped foam boxes and the like, is also required to be added to fragile goods, such as glass products, ceramic products and the like. Thus, a small volume of goods is typically required, requiring a large amount of packaging material to be able to safely deliver the goods to their destination. The excessive packaging mode not only occupies a large amount of storage and transportation space, but also wastes a large amount of packaging materials, and most of the packaging materials, such as plastic and foam, are materials which cannot be recycled, so that huge pressure and harm are brought to the environment.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides a primary and secondary turnover box, a logistics system and a method based on the primary and secondary turnover box, and aims to provide a novel cargo transportation and storage mode.

In order to solve the technical problems, the invention provides a sub-turnover box which comprises a first body, a sorting buckle and a first identity label, wherein the first body is provided with a box opening and a corresponding box cover, the box cover is locked and closed with the first body through one or more locks, and a storage space for storing goods is defined by the box cover and the first body; the sorting catch is arranged on the first body or the box cover; the first identity tag is configured to record at least identity information of the child tote and logistics information of the built-in cargo.

According to an aspect of the present invention, the present invention further provides a logistics mother and son transfer container, including:

the child container as described above, wherein the first identity tag is configured to at least record its identity binding information with the parent container;

female turnover case, it includes: a second body, a handling structure, and a second identity tag, wherein the second body is configured to house one or more child totes; the carrying structure is arranged on the second body and is configured to be matched with the object moving device; the second identity tag is configured to record at least identity information of the parent turnover box and association information of the parent turnover box and the position of the parent turnover box.

According to another aspect of the present invention, the present invention further provides a logistics system based on a primary and secondary circulation box, including: one or more mobile warehouses and/or fixed position warehouses and the logistics son-mother turnover box; wherein the mobile warehouse and the fixed-location warehouse comprise one or more warehouse location units; the goods after being received are placed in the sub turnover box, the sub turnover box is placed in the mother turnover box, and the mother turnover box is accommodated in a storage position unit, wherein the storage position unit, the mother turnover box, the sub turnover box and the goods are mutually related; the sub-containers with the built-in goods are delivered to the consignee through a mobile warehouse or other freight transport means.

According to another aspect of the invention, the invention also provides a goods association method based on the primary and secondary turnover boxes, which comprises the following steps:

placing the goods in the sub-turnover box, and at least recording goods information in a first identity tag of the sub-turnover box;

placing the child turnover box in the parent turnover box, and recording identity binding information of the child turnover box and the parent turnover box on a first identity label of the child turnover box;

the mother turnover box is placed in a storage position unit, and the second identity label of the mother turnover box records the identity binding information of the mother turnover box and the storage position unit; and

and associating the binding information of the library position unit, the parent turnover box and the child turnover box.

In the system provided by the invention, the goods are always in the subsidiary turnover box, the subsidiary turnover box circulates in different logistics equipment along with the main turnover box, and the change of the incidence relation between the subsidiary turnover box and the main turnover box and the storage location unit in the circulation process is recorded in real time, so that the real-time position of the goods in the logistics system can be obtained, and data support is provided for the supervision of the goods in the system. Because the mother turnover box is stored in the storage position unit in the stereoscopic warehouse, the goods cannot be overstocked and pushed together. The subsidiary turnover box has various specifications to adapt to goods with various shapes and sizes, so that various packaging tapes, packaging boxes, foam boxes, fillers and the like in the conventional logistics system are saved for the goods, and the subsidiary turnover box and the main turnover box can be repeatedly used, so that the subsidiary turnover box is more environment-friendly. Because the goods transportation devices are all stereoscopic warehouses with the same specification, the main turnover box for storing the sub turnover boxes can be commonly used in each goods transportation device, so that the main turnover box can be directly transported to another goods transportation device from the current goods transportation device when goods are handed over, the transfer of the goods is accelerated, and the logistics efficiency is improved.

Drawings

Preferred embodiments of the present invention will now be described in further detail with reference to the accompanying drawings, in which:

FIG. 1 is a perspective block diagram of a library site unit according to one embodiment of the present invention;

fig. 2 is a schematic view of a state in which a storage device according to an embodiment of the present invention is placed in an library cell unit;

FIG. 3A is a schematic view of a storage device according to one embodiment of the present invention;

FIG. 3B is a schematic view of another storage device according to another embodiment of the present invention;

FIG. 3C is a bottom schematic view of a storage device according to one embodiment of the present invention;

FIG. 4A is a front perspective view of a storage table according to one embodiment of the present invention;

FIG. 4B is a rear perspective view of a storage table according to one embodiment of the present invention;

FIGS. 5A-5B are schematic diagrams of a state where an AGV stops in an library cell according to one embodiment of the present invention;

FIGS. 6A-6B are schematic diagrams of a storage bay unit loaded with storage devices and resting an AGV according to one embodiment of the present invention;

FIG. 7 is a schematic diagram of a library site cell according to another embodiment of the present invention;

FIG. 8 is a schematic diagram of a library site cell according to another embodiment of the present invention;

FIG. 9 is a schematic diagram of a library site cell connection according to one embodiment of the present invention;

FIG. 10 is a schematic diagram of a library site cell connection according to another embodiment of the present invention;

FIG. 11A is a schematic diagram of a local connection structure of a library site unit according to another embodiment of the present invention;

FIG. 11B is a schematic diagram of a local connection structure of a library site unit corresponding to the structure shown in FIG. 11A;

FIG. 11C is an enlarged view of another bitcell connection based on the structure shown in FIG. 11B;

FIG. 12 is a schematic illustration of a stereoscopic warehouse according to one embodiment of the invention;

fig. 13A is a schematic illustration of a stereoscopic warehouse according to another embodiment of the invention;

figures 13B-13F are schematic illustrations of the movement of goods in a stereoscopic warehouse according to another embodiment of the invention;

FIG. 14A is a schematic illustration of a stereoscopic warehouse with one level of floors, according to one embodiment of the present invention;

fig. 14B is a schematic view of a stereoscopic warehouse with two horizontal floors according to another embodiment of the present invention;

fig. 15 is a schematic illustration of a stereoscopic warehouse according to another embodiment of the invention;

fig. 16 is a functional block diagram of a stereoscopic warehouse management system according to another embodiment of the present invention;

fig. 17 is a schematic flow chart of a stereoscopic warehouse cargo storage method according to another embodiment of the present invention;

fig. 18 is a schematic structural view of a parent transfer box according to another embodiment of the present invention;

FIGS. 19A-19B are schematic views of sub-containers according to one embodiment of the invention

FIG. 20 is a schematic structural view of a courier robot according to another embodiment of the present disclosure;

FIG. 21 is a schematic diagram of a cabinet according to another embodiment of the invention;

figure 22 is a schematic structural view of a mini-truck according to another embodiment of the present invention; and

fig. 23 is a schematic structural view of an urban area circulation vehicle according to another embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the following detailed description, reference is made to the accompanying drawings that form a part hereof and in which is shown by way of illustration specific embodiments of the application. In the drawings, like numerals describe substantially similar components throughout the different views. Various specific embodiments of the present application are described in sufficient detail below to enable those skilled in the art to practice the teachings of the present application. It is to be understood that other embodiments may be utilized and structural, logical or electrical changes may be made to the embodiments of the present application.

The invention provides a primary and secondary turnover box, a logistics system based on the primary and secondary turnover box and a related method. The child turnover box and the parent turnover box are goods storage devices and are applied to a stereoscopic warehouse in a logistics system.

The stereoscopic warehouse is a stereoscopic warehouse with high space utilization rate, and most of the space in the warehouse is used as a storage space for accommodating a storage device, such as a storage box or a storage platform. In one embodiment, the storage device comprises the child turnover box and the mother turnover box, the child turnover box is a closed device and is used for placing goods, and the child turnover box is placed in the mother turnover box. An object moving space for accommodating an object moving device, such as an ultrathin AGV, is arranged above or below the storage space. The storage device of the storage space is moved through the object moving device to complete the operations of goods entering, exiting, moving in the warehouse and the like. According to the specific structural design of the storage space and the article moving space, the volume ratio of the storage space to the article moving space can be greater than or equal to 4:1, or 5:1, or 6:1, or 7:1, or 8:1, or 9:1, or 10: 1. The stereoscopic warehouse provided by the invention has far more space utilization than any traditional warehouse or modern intelligent warehouse in the prior art.

Embodiment of the library site Unit

In one embodiment, the present invention provides a standardized, modular storage unit, which may be combined to form a space efficient storage space, as shown in fig. 1-10.

FIG. 1 is a perspective block diagram of a standardized, modular library site unit in accordance with one embodiment of the present invention. The storage unit 1 at least comprises a cubic frame, which comprises four upright posts 111, four frames 112 at the top and a bottom plate 113. The four uprights 111 of the cubic frame are connected with a support structure by means of which the goods are supported. In the present embodiment, the support structure is a support block, and two inwardly facing support blocks 12 (not shown in fig. 1, see fig. 2) are connected to each column. In other embodiments, the support structure may be a fan-shaped structure attached to the post toward the storage space, wherein the arc of the fan-shaped structure is less than or equal to 90 degrees.

The bottom surface of the three-dimensional frame in this embodiment is a whole bottom plate 113, and in another embodiment, the bottom plate 113 can be set to be in a hollow state as required, so that the cost is saved more.

Regarding the space inside the cubic frame of the storage unit 1, a storage space 101 is from the supporting block 12 to the top of the cubic frame, and a moving object space 102 is from the supporting block 12 to the bottom of the cubic frame. In order to be able to determine the distribution of the goods in the three-dimensional space, each storage location unit is provided with an identity tag 14, which is an electronic tag in one embodiment, wherein the identity information of the storage location unit, such as the three-dimensional warehouse and the number thereof in the warehouse, is recorded.

Mother turnover box embodiment corresponding to first library position unit embodiment

As shown in fig. 2, the parent container 2 is placed in the magazine unit 1. In the present embodiment, the goods are placed in a dedicated mother turnover box 2, and the mother turnover box 2 includes a second body 20 having a size matching the specification of the storage space 101 of the storage space unit 1 in the present embodiment. The purpose of the mother turnover box 2 is to utilize the storage space of the storage location unit as much as possible. Since the stored goods have various possibilities in specification, volume and shape, and the like, the goods with different specifications and different volumes can be orderly collected through the mother turnover box 2.

As shown in fig. 3A, the height of the second body 20 of the parent turnover box 2 matches with the storage space 101, and the top of the second body 20 is open for taking and placing the child turnover box or goods from the top surface.

Alternatively, as shown in fig. 3B, the height of the first body of the mother turnover box 2 may be higher than the inner plane.

Or as shown in fig. 4A-4B, the storage device is a storage table, and the second body 20a is in the shape of a storage table, and includes an edge 22a and positioning grooves 23a of multiple specifications orderly arranged on the storage table for storing goods of different specifications and different volumes.

In the three embodiments, the second body 20 of the parent container 2 or the bottom of the second body 20a of the storage platform has a carrying structure, specifically, a positioning structure 21 matched with the jacking mechanism of the article moving device, so that the article moving device can jack the parent container 2 from the bottom of the second body 20 of the parent container 2.

Each parent container 2 is provided with an identity tag 24, which is an electronic tag in one embodiment as shown in fig. 3C, wherein unique identity information of the parent container 2 in the logistics system, such as the number of the parent container 2, is recorded.

In this embodiment, the transport employs an AGV3, the AGV3 moving within the transfer space 102. The floor 113 of the storage unit 1 is a running surface of the AGV3, and is a schematic view showing a state where the AGV3 is stopped in the storage unit 1 as shown in fig. 5A to 5B. In this embodiment, and with reference to FIG. 1, the running surface of AGV3 is orthogonally provided with guide slots 1131. Because of the rectangular shape of floor 113, orthogonally disposed guide slots 1131 are parallel to respective bottom edges so that AGV3 can move unimpeded on floor 11 a. Two guide wheels 31 are provided at the bottom of the AGV3 for one guide slot 1131 to engage, as shown in fig. 5B, to prevent the AGV3 from deviating from the travel path during travel. In this embodiment, a set of orthogonal guide slots 1131 are provided in floor 113, or two or three sets may be provided, with corresponding guide wheels 31 also being provided at corresponding locations on the bottom of AGV 3.

The purpose of the guide slots and wheels is to force the AGV to stay in the path without deviating from it during travel. According to the same thinking, can set up the sand grip on frame bottom surface 113, set up matched with recess on the AGV bottom surface, the effect that can play the direction equally. In addition to these two mechanical configurations, other configurations may be used to guide AGV3, such as electromagnetic, laser, infrared, ultrasonic, UWB, or optical configurations. Any kind of guiding structure can be selected by those skilled in the art according to actual needs, and will not be described herein.

In order to move the mother turnover box 2, a jacking mechanism 32 is arranged on the top surface of the AGV3, when no goods are moved, the jacking mechanism 32 is retracted and stored in the top surface of the AGV3, when the goods need to be moved, the jacking mechanism 32 extends out of the top surface of the AGV3 and is matched with the positioning structure 21 at the bottom of the mother turnover box 2, and the mother turnover box 2 can be jacked up from the supporting block along with the lifting of the jacking mechanism 32.

An electronic tag reader/writer (not shown) is disposed outside the lower surface of the base of AGV3 for reading the identity tag of library location unit 1; an electronic tag reader-writer (not shown in the figure) is arranged outside the upper surface of the base and used for reading the identity tag of the mother turnover box 2.

As shown in fig. 6A to 6B, the present embodiment is a schematic view showing a state where a mother container 2 is loaded in one storage unit 1 and an AGV3 is parked. In order to move the mother turnover box 2, the AGV3 moves below the moving mother turnover box 2 and stops, the mother turnover box 2 is jacked up by the jacking mechanism 32 to separate the mother turnover box 2 from the supporting block 12, and then the AGV3 drives the mother turnover box 2 to move. In the magazine unit 1a, a lifting space 103 is left for the parent container 2, so that the AGV3 can lift the parent container 2 from the supporting block 12, thereby separating from the supporting block 12 for easy movement. The height of the lifting space 103 is matched with the lifting distance of the jacking mechanism of the AGV3, and the mother turnover box 2 can be moved without hindrance after the jacking mechanism 32 of the AGV3 jacks up the mother turnover box, so that the lifting space 103 does not need to be too large, for example, the height of the lifting space 103 may be less than 10cm, or less than 5cm, or less than 3cm, or less than 1 cm.

In this embodiment, the thickness of the AGV3 used to move the load determines the size of the transfer space 102, while the thickness of the AGV3 is only a small portion of the height of the storage unit 1, so that most of the storage space in the storage unit 1 is the storage space. According to the size and the load capacity of the mother turnover box 2, the space occupied by the interior components of the AGV3 and the load capacity of the interior components, the ratio of the thickness of the AGV to the height of the storage unit 1 can be found in the range of 1/8-1/4 through calculation, namely, after conversion, the space utilization rate of one storage unit 1 can reach 75% -90%. When the object moving device adopts other modes, such as magnetic suspension and the like, the space utilization rate can reach 95%.

FIG. 7 is a diagram illustrating a library site unit according to another embodiment of the present invention. In this embodiment, the storage unit 1b includes at least one cubic frame 11b, and the cubic frame 11b includes four columns 111b, a top plate 112b, and a bottom plate 113 b. The top plate 112b is provided with a guide rail 1121b, the moving device is a telescopic manipulator 3b which is connected to the guide rail 1121b through a hanging mechanism 31b, and the hanging mechanism 31b can rotate 360 degrees to rotate the manipulator 3b, and can also be telescopic up and down to lift the manipulator 3 b.

Mother turnover box embodiment corresponding to the second embodiment of the library position unit

The parent container 2b differs from the previous embodiment in that the carrying structure is a handle 21b disposed on the four top edges of the first body, and the identity tag can be disposed on any one of the four top edges of the first body for reading by the moving device disposed thereon.

The mother turnover box 2b is placed on the bottom plate 113b, the hanging mechanism 31b drives the manipulator 3b to move above the mother turnover box 2b along the guide rail 1121b, the manipulator 3b is expanded to correspond to the handle 21b, so that the handle 21b of the mother turnover box 2b is grabbed, the mother turnover box 2b is grabbed from the bottom plate 113b, and the goods are moved along the x direction or the y direction through the guide rail, so that the horizontal crossed movement of the goods is realized. In the embodiment, the article moving space 102b where the article moving device is located is above the article storage space 101b, and the space occupied by the article moving device can be reduced by the structure of the article moving device, such as the manipulator 3b, so that the ratio of the article storage space 101b to the article moving space 102b in the embodiment can be at least larger than 2/1.

Library site unit embodiment III

FIG. 8 is a diagram illustrating a library site unit according to another embodiment of the present invention. In this embodiment, the storage unit 1c includes at least one cubic frame including four columns 111c, partitions 112c, and a bottom plate 113 c. The partition plate 112c is connected to the upper half of the column 111c, and forms an article moving space 102c with the plane where the top end of the column is located, and the partition plate 112c is provided with a guide rail or a guide groove for guiding the operation of the article moving device 3 on the partition plate 112 c. The mother turnover box 2 is placed on the bottom plate 113 c. The mother turnover box 2 and the transferring device 3c have a contactless connection structure. For example, the transferring device 3c is provided with an adsorption mechanism for generating a suction force when the mother transport container 2 needs to be moved, the suction force may be a suction force generated when a vacuum is drawn, or an electromagnetic suction force. Correspondingly, the first body of the mother turnover box 2 is provided with an adsorption device, which can be a vacuum adsorption device or an electromagnetic adsorption device corresponding to the transferring device 3c, and the adsorption device is attracted by the transferring device 3c to leave the bottom plate 113c and move along with the transferring device 3c, so that the goods are moved in a horizontal direction in a crossed manner. In the embodiment, the partition 112c and the bottom plate 113c include a lifting space 103c and a storage space 101c therebetween, and the object moving space 102c is above the partition 112 c. The height of the lifting space 103c is the height of the parent container 2 away from the base 113c when being sucked, and thus the height of the space can be small, such as centimeter or millimeter. The volume of the article moving device 3c is not required to be large, so the height of the article moving space 102c is small relative to the height of the storage space 101c, the space in the storage unit 1c is mostly the storage space 101c, and the storage space 101c can reach over 75% of the whole space.

Mother turnover box embodiment corresponding to the third embodiment of the library position unit

Corresponding to the library location unit in the third embodiment, the parent turnover box may also have a structure as shown in fig. 18. In this embodiment, the second body 20c of the main container 2c is provided with side doors 201c that can be opened and closed, and the side doors are configured in two parts, and slide to the top and bottom respectively when opened, so as to take and place the sub container from the side. In this embodiment, the side door 201c is a roller door, and may be a slidable door made of other flexible materials. In the storage state, the side door 201c is closed, and when the sub-container is put in or taken out from the side door 201c, the side door 201c is opened. For example, when receiving, delivering, and sorting, the side door 201c is opened, and the suction device 21c engaged with the transfer device 3c is provided on the top thereof.

The storage location unit provided by the invention is a modular and standardized storage unit, and when a plurality of such units are connected together, a storage warehouse can be obtained. In order to connect the storage position units together, the three-dimensional frame of the storage position unit provided by the invention is respectively provided with connecting structures with corresponding dimensions in three dimensions, and is used for connecting different storage position units together.

Embodiment one of the library site unit connection structure

FIG. 9 is a schematic diagram of a library bit cell connection. In this embodiment, the three-dimensional frame of the storage unit is provided with a connecting hole 11a, when two storage units 1 are connected together, the respective connecting holes 11a are communicated, and at this time, the two storage units 1 can be connected together by using a bolt and a nut (not shown in fig. 9).

Second embodiment of the library site unit connection structure

FIG. 10 is a schematic diagram of another library bit cell connection. In this embodiment, more than one groove is arranged on one upright post or edge on the three-dimensional frame, when two storage position units are parallel, the two grooves are corresponding, and the buckle 11b is buckled in the groove, so that the two storage position units are connected together. Through set up a plurality of recesses at the x of a storehouse position unit, y, z three-dimensional, can connect other storehouse position units in three dimensions, can connect arbitrary a plurality of storehouse position units as required.

Third embodiment of the library site unit connection structure

FIGS. 11A-11C are schematic diagrams of yet another library bit cell connection. As shown in fig. 11A, more than one groove 11c is provided on each upright post or edge on the three-dimensional frame, as shown in fig. 11B, another storage location unit is provided with a convex strip or a convex block 11d, and when two storage location units with the same specification are juxtaposed, one storage location unit convex strip or convex block 11d is matched with the other storage location unit groove 11c for plugging together. In addition, in order to make the connection between the two storage units after the insertion, as shown in fig. 11C, a hook 11e may be disposed at the end of the protrusion 11d, and a corresponding slot (not shown) may be disposed in the corresponding groove 11C, and when the protrusion 11d is inserted into the groove 11C, the hook 11e and the slot are engaged with each other, so that the connection is more secure.

In the above warehouse location unit connection structure, the connection structures are respectively arranged in three dimensions, so that other arbitrary warehouse location units 1 can be connected in two horizontal directions X, two longitudinal directions Y and two directions Z, and stereoscopic warehouses with different warehouse location unit numbers and different volumes can be obtained.

Embodiment of stereoscopic warehouse

Referring to fig. 12, a schematic view of a stereoscopic warehouse according to an embodiment of the present invention is shown. In this embodiment, the stereoscopic warehouse comprises a plurality of the first embodiment of the storage space units 1 which are horizontally connected together. The storage position units 1 can be connected in a front-back extending manner in the x direction and the y direction by utilizing the connecting structure, so that the stereoscopic warehouses with different specifications are formed by the storage position units 1 with different quantities according to actual needs. When the storage unit 1 is connected together, the respective article moving spaces 102 are communicated with each other to form an integral large article moving space. Because the extension length of the supporting structure for supporting the storage device is very small, the AGV cannot be prevented from moving. Thereby allowing the AGV to move freely across the entire transfer space in both the x-direction and the y-direction. For example, an AGV may jack its storage device within one of the storage bay units, then move to another storage bay unit, and after positioning, withdraw the jacking mechanism, place the storage device on the support structure 111, thereby completing the storage device movement.

Stereoscopic warehouse embodiment two

Referring to fig. 13A, a schematic view of a stereoscopic warehouse according to another embodiment of the invention is shown. In this embodiment, a plurality of storage location units 1 are connected to form a two-layer stereoscopic warehouse, but of course, three or more layers may be used according to actual needs. In order to clearly show other structures of the stereoscopic warehouse, the connection structure is not shown in the present embodiment, and it is to be understood that the connection structure in the present embodiment may adopt any one of the foregoing various embodiments. In order to realize that the transferring device can move between different layers, the lifting system 4 is also included. Wherein the lifting system comprises a support column 41 and a lifting platform 42. The lifting platform 42b is matched with the supporting upright 41, ascends or descends under the driving of the driving mechanism, and can be butted with the storage position unit 1 at any height. The structure of the top of the lifting table 42 is the same as that of the base plate 113 of the storage location unit, and when the lifting table 42 is butted and positioned with the storage location unit 1, the top of the lifting table 42 forms a part of the moving space.

When the AGV3 needs to change the floor, the elevator 42 moves to the corresponding floor, the AGV3 moves to the floor of the elevator 42, the elevator 42 moves to the target floor again, the AGV stops after butting and positioning with the storage location unit of the target floor, and the AGV moves from the floor of the elevator 42 to the target floor. As shown in fig. 13B-13F, a process for moving a storage device from a lower level to an upper level is shown. When it is necessary to transfer a parent container 2 on the lower layer, or a parent container 2 received from the outside, to a stock location unit on the upper layer. The AGV3 carries the storage device to the elevator platform 42 as shown in FIG. 13B. The elevating table 42 is driven by the driving mechanism to ascend as shown in fig. 13C. When reaching the upper level, the lifting platform 42 stops rising and is butted and positioned with the storage location unit of the upper level, as shown in fig. 13D. The AGV3 carries the parent container 2 toward the target library bit position, as shown in fig. 13E. When the target magazine position is reached and stopped, the jack-up mechanism is withdrawn and the parent container 2 is placed on the support structure of the target magazine position, as shown in fig. 13F.

Third embodiment of stereoscopic warehouse

Referring to fig. 14A-14B, schematic illustrations of a stereoscopic warehouse according to another embodiment of the invention. In this embodiment, the stereoscopic warehouse includes an integral frame which is cross-connected together by a plurality of cross beams 111c and a plurality of columns 112c to form a plurality of storage units 1, and the storage units 1 form a unit array in horizontal and vertical directions. As shown in fig. 14A, a horizontal one-story stereoscopic warehouse is formed, and as shown in fig. 14B, a two-story stereoscopic warehouse is formed. The storage unit 1 is used for accommodating a storage device (not shown), such as a storage device or a storage table. A support structure 12 is provided on each upright 112c, and a storage device is placed on the support structure 12. As shown by the dotted lines, the space from the support structure 12 to the top of the parent transfer container 2 constitutes a storage space 101, and the space from the support structure 12 to the bottom plate 113c constitutes a transfer space 102. A certain height of distance is left between the top of the storage device (not shown) and the cross beam 111c, or between the goods on the top of the storage device and the upper floor 113c, which is a lifting space (not shown). In order to drive the storage device to move together in the object moving space 102, the object moving device moves to a position below the storage device, the storage device is jacked up by using a jacking mechanism, and then the object moving device moves horizontally in the object moving space 102 without hindrance. Therefore, the height of the lifting space 103 is determined according to whether the female turnover box 2 can move without hindrance by the jacking mechanism. For example, the height may be less than 10cm, or less than 5cm, or less than 3cm, or less than 1 cm.

In order to realize the movement of the object moving device between the storage units in the vertical direction, a lifting system may be further included, such as the lifting system shown in fig. 13, which may be specifically referred to the corresponding descriptions of fig. 13A to 13F, and will not be described herein again.

Stereoscopic warehouse embodiment four

Referring to fig. 15, fig. 15 is a schematic view of a stereoscopic warehouse according to yet another embodiment of the present invention. In this embodiment, the stereoscopic warehouse includes a plurality of storage layers and a plurality of transfer layers (two storage layers and two transfer layers are shown in this embodiment), and the structural relationship of the storage layers and the transfer layers may be as any one of embodiments one to three. Different from the first to third embodiments, the heights of the transfer layers and the heights of the transfer layers in the present embodiment are not all the same, wherein the height of the upper layer storage position unit 1a1 is smaller than the height of the lower layer storage position unit 1a2, so that storage devices with different specifications can be used, and the specifications of goods which can be stored are increased. In this embodiment, the overall framework adopted by the stereoscopic warehouse may also be formed by combining and connecting a plurality of individual warehouse location units.

In order to complete the control of the AGV and the lifting platform, the stereoscopic warehouse of the present invention further includes a motion control system. Fig. 16 is a schematic block diagram of a stereoscopic warehouse management system according to an embodiment of the invention. The stereoscopic warehouse management system includes a motion control system 162 and a cargo management system 161, wherein the stereoscopic warehouse management system may be located locally or in a cloud. The motion control system 162 includes a travel control module 1621 for controlling the AGV and a lift control module 1622 for controlling the lift system. The travel control module 1621 is an upper control module of the AGV, and is mainly used for performing functional units such as task management, vehicle driving, route planning management, traffic management, communication management and the like on a plurality of AGV units in the warehouse.

Wherein, the task management functional unit provides the execution environment of the AGV single machine. Scheduling the operation of a plurality of AGV according to the task priority and the starting time; various operations such as start, stop, cancel, etc. are provided for the AGV stand-alone.

The vehicle driving function unit is responsible for collecting the AGV state, sends a request for allowing the traveling section to the traffic management function unit, and simultaneously issues the confirmation section to the AGV.

And the route planning functional unit distributes and dispatches the AGV to execute the task according to the requirement of the cargo handling task, calculates the shortest walking path of the AGV according to the principle that the walking time of the AGV is shortest, and controls and commands the walking process of the AGV.

And the traffic management functional unit provides measures for AGV mutual automatic avoidance according to the running state of the AGV and the running path conditions of the AGV in the library.

The communication management function unit provides the communication function between the walking control module 1621 and the AGV stand-alone system 164 and other upper computers. Wherein, a wireless communication mode is adopted between the walking control module 1621 and the AGV stand-alone system 164, and the walking control module 1621 communicates with a plurality of AGV stand-alone systems 164 by a polling mode; the walking control module 1621 may communicate with other upper computers and cloud systems in a TCP/IP manner.

The AGV is provided with a single machine control system, and after receiving the transport task and the instruction thereof from the upper system walking control module 1621, the single machine control system is responsible for the functions of navigation, guidance, path selection, vehicle driving, steering, loading and unloading operations and the like of the single machine of the AGV so as to complete the transport task.

The AGV single machine can read the identity of the storage location unit through an electronic mark reader-writer which is arranged on the AGV single machine, and can determine the position and the course in the stereoscopic warehouse according to the spatial distribution information of the storage location unit of the stereoscopic warehouse.

And the AGV single machine pre-selects a path to be operated by calculation according to the instruction of the upper system, and reports the result to the upper control system. Or the upper system allocates the AGVs uniformly according to the positions of other AGVs. The path of the AGV walking on the single machine consists of a plurality of straight line segments. Each segment indicates the start point and the end point of the segment (corresponding to a specific bin unit identity), and may further include information such as the travel time, distance, speed, and direction of the AGV in the segment.

And the AGV single machine controls the vehicle to run through a servo motor, a stepping motor and other position precise control motors according to the moving path information. And has the emergency brake function, and can brake in time when the stereoscopic warehouse is unstable or accidents occur.

The AGV is internally provided with a weight weighing analysis system, and determines the set speed and the acceleration of each section of stroke according to the weight of the goods, so that the voltage and the current are required to be output

In order to enable the object mover, such as an AGV in this embodiment, to accurately release the storage device to the target storage location while the stereoscopic warehouse is in an unstable moving state, the control system further includes a positioning module, such as a sensor disposed on the bottom plate of each storage location unit, such as four positioners 160 in fig. 1. Under the normal driving state, the inside servo motor of AGV can be to AGV accurate positioning, but when stereoscopic warehouse is in unstable moving state, after fixing a position through servo motor, the rethread four locators 160 calibration AGV's position for the AGV is even can still be accurately fixed a position in preset position under the state of rocking, places storing device on the exact position.

Lift control module 1622 is used to control lift drive mechanism 163 of the lift system. The lifting platform driving mechanism 163 adopts a servo system, and the lifting control module 1622 sends driving information to the servo system according to the lifting stroke, so as to drive the lifting platform to reach the preset position. In which the servo system can be accurately stopped at a predetermined position in a normal state, however, the position reached by the elevating platform deviates from the original predetermined position due to an unstable state of the stereoscopic warehouse while moving. If the lifting platform deviates from the original preset position, the butt joint state of the lifting platform and the storage position unit is poor, the AGV is difficult to walk, and even the AGV is damaged. Thus, in one embodiment, more than one position sensor is provided on the support column at the position where each floor interfaces with the storage location unit, so that the lifting platform can be accurately stopped at a predetermined position.

Further, the elevating platform incorporates a weight scale analysis system, and the magnitude of the output voltage current required to realize the speed and acceleration set for each elevating stroke is determined according to the weight of the load loaded on the elevating platform.

Cargo storage embodiment

Fig. 17 is a flowchart illustrating a stereoscopic warehouse goods storage method according to an embodiment of the present invention, in which goods are placed in the storage device. For convenience of the following description, the storage device is divided into a main transfer container 2 and a subsidiary transfer container 7. Wherein the goods are packed in the closed sub-containers 7. The plurality of sub-containers 7 are placed in the main container 2 in order. The mother circulation box 2 is open at least at the top, as in the structure shown in fig. 17, or as in the structure in fig. 3A, 3B or 4A. The transfer device, such as AGV3, transfers the parent container 2 to the target magazine bit position in the three-dimensional warehouse, and the transfer process is shown in fig. 13B-13F. During the transportation process, if the stereoscopic warehouse is in an unstable moving state, the AGV3 is accurately positioned by the positioning 160 on the bottom plate, and then the parent container 2 is released to the supporting block of the target warehouse.

When the AGV3 carries the parent container 2 to a storage location unit for storage, the identity binding relationship between the parent container 2 and the storage location unit thereof is established, and the binding relationship is sent to the goods management system 161. When the AGV3 moves the parent container 2 away from the currently stored storage location unit for storage, the id binding relationship between the parent container 2 and the storage location unit thereof is released, and the unbinding relationship is sent to the cargo management system 161. Therefore, the cargo management system 161 of the present invention records the correspondence relationship between each parent container 2 and the stock location unit and the variation thereof.

Practical sub-turnover boxExamples of the embodiments

Fig. 19A-19B are schematic views of sub-containers according to one embodiment of the invention. In the present embodiment, the sub-circulation box 7 includes: a first body 70, a sorting catch 71 and an identity tag 72. The first body 70 includes a lid 701, and in one embodiment, the first body 70 and the lid 701 are made of a hard material, so that the sub-container has a certain compression-resistant and supporting effect. In this embodiment, the sorting catches 71 are disposed at the middle position of the box cover 701, and in order not to affect the stability of the stacked sub-containers, other protrusions 702 are further disposed on the top surface of the box cover 701, and the height of the protrusions is the same as that of the sorting catches 71, so that the stability of the top surface of the sub-containers can be maintained. The sorting catch 71 is intended to cooperate with a catch of a sorting robot during the sorting process. The identity tag 72 may be an RFID electronic tag or a two-dimensional code tag, and is configured to record at least identity binding relationship information between the identity tag and the parent container and logistics information in the circulation process.

The first body 70 is used for placing goods, and in order to ensure the safety of the goods, the box cover 701 is locked and closed with the first body 70 through one or more locks. As shown in the figure, two electronic locks 703 are respectively disposed on two sides of the case cover 701, but of course, the lock used in this embodiment may be any type of lock, for example, a mechanical lock, a combination lock, a fingerprint lock, and the like. When the lock is used, after goods are received, the goods are locked in the sub-turnover box, the unlocking password is sent to the receiver, and the sub-turnover box responds to the identity confirmation of the receiver and then unlocks the lock, so that the receiver can take the goods away.

In this embodiment, the cover 701 and the first body 70 are movably connected together by a connecting member 704. To control the speed and state of the cover 701 when opened, a damper is provided on the connecting member. The cover 701 and the first body 70 may also be separately disposed, and a fixing structure, such as a snap structure, an insertion structure, or an absorption structure, is disposed on each of the cover and the first body 70, so that the cover and the first body 70 are connected together when closed. In another embodiment, various structures of buffering parts can be arranged in the first body to adapt to the goods in the first body, so that the goods are prevented from being damaged due to collision, jolt and the like in the transportation process. Wherein the buffers cannot be taken out from the sub-containers with the goods, and are fixed with the first body 70 through a connection structure.

The sub-containers 7 may include a plurality of different sizes corresponding to the sub-containers of different sizes, and the size of the mother container is designed to fit a combination of a plurality of sub-containers of the same or different sizes in order to make full use of the volume of the mother container. For example, the plurality of sub turnover boxes can completely occupy the bottom area of the main turnover box through different arrangements, and can be safely stacked up and down in the main turnover box.

Logistics System embodiment

The invention provides a logistics system based on the sub-turnover box, which comprises: one or more mobile warehouses and/or fixed position warehouses and the primary and secondary turnover boxes; after the goods are received, the goods are placed in the sub turnover box, the sub turnover box is placed in the mother turnover box, and the mother turnover box is accommodated in a storage position unit, wherein the storage position unit, the mother turnover box, the sub turnover box and the goods are mutually related; the sub-containers with the goods inside are delivered to the consignee through a mobile warehouse or a vehicle.

The mobile warehouse and the fixed position warehouse are internally provided with the stereoscopic warehouse in the above description, and may comprise one or more warehouse location units according to the size. In the following description, a freight device having a large number of storage space units in the stereoscopic warehouse is referred to as a mobile warehouse, and the mobile warehouse may be a mini-truck as shown in fig. 22 or an urban circulation car as shown in fig. 23, or may be a device in which the stereoscopic warehouse is combined with other transportation devices. Such as a stereoscopic warehouse in combination with a ship, airplane, train, etc., may be referred to as a floating warehouse.

The logistics system of the present invention also includes a special end device, namely an express delivery robot as shown in fig. 20, which may have one or two storage location units inside the container. The logistics system also comprises a fixed-position warehouse, such as an express cabinet shown in fig. 21.

One or more storage position units are arranged in the packing box of the express robot and used for storing the primary and secondary turnover boxes. As shown in fig. 20, one parent container 2 is stored in the container, and one child container 7 is stored in the parent container 2. Wherein. When goods are taken, the express robot 8 carries the parent turnover box 7 comprising the child turnover box 7 corresponding to the goods specification to a goods taking position to take the goods, the goods taking position can be a goods delivery user, the goods are placed in the child turnover box by the goods delivery user and locked, the express robot 8 establishes the identity binding relationship between the goods and the child turnover box and the identity binding relationship between the child turnover box and the parent turnover box, namely the goods information is written into the identity label of the child turnover box, and the identity information of the current storage position unit is written into the identity label of the parent turnover box. If the goods taking place is an express cabinet, as shown in fig. 21, the express robot 8 opens the express cabinet to exchange a mother turnover box with the express cabinet. Then, the express robot 8 delivers the child and mother turnover boxes together to a mobile warehouse docked with the express robot at a designated docking location, such as a mini-truck shown in fig. 22, or a local circulating vehicle shown in fig. 23, or other cargo transportation devices with stereoscopic warehouse modules. When delivering goods, the express delivery robot 8 interacts with the goods receiving user, after the identity of the goods receiving user is confirmed, the lock of the sub-turnover box is started, the box cover is opened, and the goods are taken away by the goods receiving user. If the express delivery robot 8 can not be docked with the goods receiving user, the express delivery cabinet can be stored with the mother turnover box 2 loaded with the child turnover box 7 together, and the inside stereoscopic warehouse module with the same specification of the express delivery cabinet. When a goods receiving user takes goods, the main turnover box 2 with the sub turnover box 7 is sent out from the interior of the express cabinet, and after the goods receiving user opens the sub turnover box 7 to take the goods away, the main and sub turnover boxes 7 and the main turnover box 2 are recovered and prepared to be provided for an express robot or other mobile warehouses with demands.

As shown in fig. 22, a body warehouse module is integrated on the body of the mini-truck and the urban circulating vehicle shown in fig. 23, and a mobile warehouse is formed by the housing and the doors. The sorting device is further arranged inside the movable warehouse, the fixed position warehouse or the express delivery robot, and is used for sorting out goods to be transferred before the goods are in butt joint with the other movable warehouses, the fixed position warehouses or the express delivery robot. Similarly, as shown in fig. 21, the inside of the express cabinet is also provided with a sorting device, and when a user takes goods, the corresponding sub-turnover boxes are sorted out.

When the storage location unit where the parent turnover box 2 is located is changed, such as when the parent turnover box is transferred to one storage location unit in the mini truck 9a from the storage location unit of the express robot, or when the parent turnover box is transferred to another storage location unit from one storage location unit in a stereoscopic warehouse, the identity binding relationship between the identity label in the parent turnover box 2 and the storage location unit is changed. This operation can be operated by means of a device for changing the position of the parent container 2, such as an AGV. For example, when the AGV moves the parent turnover box 2 away from the storage location unit, the AGV releases the identity binding relationship between the parent turnover box 2 and the storage location unit, the position mark corresponding to the storage location unit in the identity label of the parent turnover box 2 is moved in the transportation process, and the identity binding relationship between the parent turnover box 2 and the new storage location unit is established when the parent turnover box 2 is placed in the new storage location unit.

And when the parent turnover box where the child turnover box 7 is located is changed, the identity binding relationship between the child turnover box 7 and the parent turnover box is changed. This operation can be performed by a device that causes the position of the tote 7 to change, for example, when the sorting device sorts the child tote, the sorting device changes the binding relationship between the sorting device and the parent tote, and the changing process is the same as the changing operation of the AGV, such as the processes of releasing, moving and establishing.

One procedure associated with logistics equipment for a cargo is as follows:

and step S1, placing the goods in the sub-turnover box, and at least recording goods information in the first identity label of the sub-turnover box. The goods information comprises information such as description of goods, receiving information, names, addresses, contact information and the like of shippers. Each sub-turnover box is provided with a unique identity, when the goods information is recorded in the identity label of one sub-turnover box, the corresponding association relationship between the goods and the sub-turnover box is established, and under the normal condition, the association relationship is not changed all the time from the time that the goods enter the logistics system to the time that the goods are turned out of the logistics system.

And step S2, placing the child turnover box in the parent turnover box, and recording the identity binding information of the child turnover box and the parent turnover box on the first identity label of the child turnover box. Each mother turnover box is provided with a unique identity, the child turnover boxes are placed in the mother turnover box, and the first identity labels of the child turnover boxes record identity binding information of the child turnover boxes and the mother turnover boxes. If the parent turnover box for placing the child turnover box changes, the first identity label of the child turnover box records the change information, namely the identity binding information with the original parent turnover box is removed, and the identity binding information with the new parent turnover box is established.

And step S3, placing the parent turnover box in a position unit, and recording the identity binding information of the parent turnover box and the position unit on a second identity label of the parent turnover box. In this step, the position of the parent turnover box in the logistics system is determined by determining the association relationship between the parent turnover box and the storage location unit. The warehouse location units correspond to the logistics equipment where the warehouse location units are located one to one, for example, the identity information of the warehouse location units represents the identity of the stereoscopic warehouse where the warehouse location units are located and the number of the warehouse location units in the stereoscopic warehouse, and the identity of the stereoscopic warehouse is the identity of the moving warehouse or the fixed position warehouse. After the identity binding relationship between the parent turnover box and one storage location unit is determined, the logistics equipment where the parent turnover box is located and the specific position of the parent turnover box in the logistics equipment can be determined. When the storage position unit where the mother turnover box is located is changed, the identity binding relationship between the mother turnover box and the storage position unit is changed, namely the identity binding relationship between the mother turnover box and the original storage position unit is removed, and the identity binding relationship between the mother turnover box and the new storage position unit is established.

And step S4, associating the binding information of the library location unit, the parent turnover box and the child turnover box. For example, when the express robot receives a cargo and places the cargo into a child turnover box, the cargo information and the parent turnover box in which the child turnover box is located are written into the identity tag of the child turnover box, and the information is sent to the cargo management system, and the cargo management system records the cargo, the child turnover box, the parent turnover box, the storage location unit and the identity information of the express robot. When the express robot delivers the primary and secondary turnover box to the mini-truck together and stores one storage position unit in the mini-truck, the AGV carrying the primary turnover box in the mini-truck removes the identity binding relationship between the primary turnover box and the storage position unit in the express robot, establishes the identity binding relationship between the primary turnover box and the storage position unit in the mini-truck, and sends the change information to the cargo management system. And the cargo management system updates the logistics information in the current cargo, associates the cargo, the child turnover box and the parent turnover box with the new storage location unit and the mini-truck, and continuously updates the logistics information. The real-time position of each cargo in the logistics system can be determined through the associated information. The cargo management system can be located locally in a mobile warehouse or a fixed-position warehouse, and can also be located in a cloud.

The stereoscopic warehouse with different specifications is arranged in various logistics devices in the logistics system, goods are always in the sub-turnover box, the sub-turnover box circulates in different logistics devices along with the main turnover box, and changes of the main turnover box and the warehouse location unit in the circulation process are recorded in real time, so that the real-time position of the goods in the logistics system can be obtained, and data support is provided for supervision of the goods in the system. Because the mother turnover box is stored in the storage position unit in the stereoscopic warehouse, the goods cannot be overstocked and pushed together. The sub-turnover box has multiple specifications, can be suitable for goods of various shapes and sizes, and can protect the goods in the box from collision and damage in the transportation and carrying processes if structures such as anti-collision pieces are designed in the sub-turnover box for fragile goods according to requirements. When the goods are transported in the three-dimensional warehouse and are butted, the moving device provided by the invention, such as an AGV, is used for transporting the mother turnover box, the operation is stable, and the violent transportation and the violent sorting in the conventional logistics system are avoided. Therefore, the goods in the invention do not need various packaging tapes, packaging boxes, foam boxes, fillers and the like in the existing logistics system, and the primary turnover box and the secondary turnover box can be repeatedly used, so that the invention is more environment-friendly. Because the goods conveying devices are all stereoscopic warehouses with the same specification, the main turnover boxes for storing the sub turnover boxes can be commonly used in each goods conveying device, and therefore when goods are handed over, the AGV can directly convey the sorted main turnover boxes from the current goods conveying device to another goods conveying device. The unloading and loading in the existing logistics system are not needed any more, thereby greatly saving time. In addition, each butt joint link does not need personnel to intervene, so that contact between goods and people and contact between people and people are avoided.

The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the scope of the present invention, and therefore, all equivalent technical solutions should fall within the scope of the present invention.

Claims

1. A logistics system based on primary and secondary turnover boxes comprises:

one or more flow warehouses and/or fixed location warehouses comprising one or more bay units;

a plurality of logistics child-mother turnover boxes;

the goods after being received are placed in the sub turnover boxes, the sub turnover boxes are placed in the mother turnover boxes, and the mother turnover boxes are accommodated in a storage position unit, wherein the storage position unit, the mother turnover boxes, the sub turnover boxes and the goods are mutually related; the sub-turnover box with the goods inside is delivered to a receiver through a mobile warehouse or a vehicle;

wherein, commodity circulation primary and secondary turnover case includes:

the first identity tag is configured to at least record identity information of the child turnover box, logistics information of the built-in goods and identity binding information of the child turnover box and the parent turnover box; and

female turnover case, it includes:

a second body configured to accommodate one or more sub-totes;

the carrying structure is arranged on the second body and is configured to be matched with the object moving device; and

and the second identity tag is configured to record at least the association information of the parent turnover box and the position of the parent turnover box.

2. The logistics system of claim 1, wherein the second body is open at the top for taking and placing sub-containers from the top surface.

3. The logistics system of claim 1, wherein the second body is provided with a side door capable of being opened and closed at the side for taking and putting the sub-turnover box from the side.

4. The logistics system of claim 1, wherein the handling structure is a positioning slot disposed at the bottom of the second body for positioning with the article moving device.

5. The logistics system of claim 1 wherein the handling structure is provided with a handle at the top of the second body for cooperation with a robot as the second handling structure in the transfer device.

6. The logistics system of claim 1, wherein the handling structure is disposed on the top of the second body for engaging with the transfer device as the suction mechanism of the second handling structure.

7. The logistics system of claim 1, wherein the location of the parent turnover box is a storage location unit, and the association information between the parent turnover box and the location is identity binding information between the parent turnover box and the storage location unit.

8. The logistics system of claim 1, wherein the plurality of sub-containers comprise a plurality of sizes, and the parent container is sized to fit a combination of the plurality of sub-containers of the same or different sizes to enable full use of the volume of the parent container.

9. The logistics system of claim 1 wherein the fixed location warehouse comprises a stereoscopic warehouse having a plurality of warehouse location units.

10. The logistics system of claim 1, wherein the flow warehouse comprises:

a vehicle; and

a stereoscopic warehouse having one or more warehouse location units disposed on the vehicle.

11. The logistics system of claim 1, further comprising a sorting device disposed in the mobile warehouse or the fixed position warehouse for sorting the sub-containers according to the logistics destination of the next delivery.

12. The logistics system of claim 1, further comprising an express delivery robot comprising one or more storage location units for receiving parent totes.

13. The logistics system of claim 1, wherein the fixed location warehouse comprises an express delivery cabinet comprising one or more storage location units for housing the parent and child containers.

14. A goods association method based on a primary and secondary turnover box comprises the following steps:

the mother turnover box is placed in a storage position unit, and identity binding information of the mother turnover box and the storage position unit is recorded on a second identity label of the mother turnover box; and

15. The association method of claim 14, further comprising: and when the storage position unit where the parent turnover box is located is changed, changing the binding relationship between the parent turnover box and the storage position unit.

16. The association method of claim 14, further comprising: and when the parent turnover box where the child turnover box is located is changed, the binding relationship between the child turnover box and the parent turnover box is changed.