Symmetric intelligent anti-falling algorithm based on angle optimization

Abstract

The invention discloses a symmetric intelligent anti-falling algorithm based on angle optimization. The symmetric intelligent anti-falling algorithm based on angle optimization comprises the followingspecific steps of S1, defining the physical parameters; S2, calculating an optimal inclination angle. According to the invention, through the calculation method, the placement of commodities on the shelf can be in a stable state at the inclination angle of the optimal solution, and the stowage balance can be maintained. According to the physical attributes, the sum of the thrust borne by the innermost box is in direct proportion to the angle, and the steeper the angle is, the larger the thrust is; the smaller the angle is, the smaller the thrust is. The symmetric intelligent anti-falling algorithm has the advantages that the goods on the outer side are guaranteed not to be thrown out and fall off towards the inner side, and the thrust borne by the goods on the inner side is guaranteed tobe smaller than an upper limit threshold value, the left-right unbalance deviation is effectively avoided, and the angle positioning accuracy is guaranteed, and therefore the moving bearing of the goods shelf placed on an AGV is stable and smooth, and the danger coefficient is greatly reduced.

Description

technical field [0001] The invention relates to the field of anti-fall algorithms, in particular to a symmetrical intelligent anti-fall algorithm based on angle optimization. Background technique [0002] In the logistics industry, for the B-type goods-to-person mode, the commonly used picking method in unmanned warehouses is that the AGV carries the shelves carrying the goods, and moves them to the workstation, where the goods listed in the order are manually picked. In the existing technology, according to the estimation of the order characteristics and manual experience, it is determined how to place the goods on which floor, and placed on the shelf in advance, and then the shelf is lifted by the AGV car, and then transported to the designated place and put down the shelf . The common shelf structure in business scenarios contains multi-layer baffles, and each layer is kept parallel to the horizon, but hidden dangers are reflected in the danger of goods falling due to un...

AI Technical Summary

Problems solved by technology

[0003] (1) During the moving process, due to the unreasonable placement of the goods, the goods are unbalanced and the shelves are tilted;

[0004] (2) During the movement, due to the sudden stop of the AGV barrier, the goods on each floor slide out of the shelf;

[0005] (3) During the moving process, due to the turbulence of the shelves, the goods on the outside of each layer are shaken to the ground;

[0006] These random failures have brought different levels of losses to production, such as economic compensation and road clearing, and increased unnecessary logistics costs

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