Method, system and controller for stockyard storage and handling

Abstract

The application discloses a method, system and controller of a stockyard storage and transportation warehouse. The method comprises the following steps: receiving three-dimensional data of a stockpile before and after loading respectively sent by a measuring device; determining an initial material volume according to the three-dimensional data of the stockpile before loading; determining a target material volume according to the three-dimensional data of the stockpile after loading; determining a volume difference as a difference between the target material volume and the initial material volume; obtaining the weight of the stockpile before and after loading respectively; determining a weight difference according to the weight of the stockpile before and after loading; determining a volume-weight ratio according to the volume difference and the weight difference; and determining a target material weight as a product of the volume-weight ratio and the target material volume. The application determines the weight according to the volume-weight ratio by measuring the stockpile in three dimensions to obtain the volume, thereby reducing manual operation and improving the accuracy and efficiency of the warehouse.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to a stockyard storage and transportation yard method, system and controller. BACKGROUND

[0002] The aggregate of the concrete station is generally stored in an open or non-open yard, mainly including gravel and yellow sand and other concrete raw materials. The wall is used to separate the stacking area. The feeding of the stacking area is carried out by moving the belt position of the special distribution trolley to feed different stacking areas, forming multiple stacking areas. The accurate stockyard of the stockyard is an important link of enterprise cost control. Accurate control of material inventory is beneficial to improve the utilization rate of raw materials, control raw material consumption, reasonably allocate space resources, and has a positive effect on economic benefits. At present, most enterprises still use the most primitive method to measure, which is generally manual measurement and estimation with a tape measure. The existing stockyard stockyard has the problems of manual tape measurement stockyard, manual portable laser stockyard and the like. Manual or handheld scanning can only complete volume measurement, and the measurement error is large. Manual measurement has the problems of long time consumption and complex operation process. The average density is calculated by multiplying the volume of the test stockyard obtained according to the empirical formula. The material density is affected by factors such as material, particle size and water content, and changes greatly, which greatly affects the accuracy of the quality measurement result. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a stockyard storage and transportation yard method, system and controller, which solves the problem of low accuracy of the existing stockyard.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a stockyard storage and transportation yard method applied to a stockyard storage and transportation yard system, the system comprising a controller and a measuring device, the controller and the measuring device being in communication, and the method comprising:

[0005] Respectively receiving the three-dimensional data of the material pile before and after feeding sent by the measuring device;

[0006] Determining the initial material volume according to the three-dimensional data of the material pile before feeding;

[0007] Determining the target material volume according to the three-dimensional data of the material pile after feeding;

[0008] Determining the volume difference as the difference between the target material volume and the initial material volume;

[0009] Respectively acquiring the weight of the material pile before and after feeding;

[0010] Determining the weight difference according to the weight of the material pile before and after feeding;

[0011] Determining the bulk density ratio according to the volume difference and the weight difference;

[0012] The product of the container weight ratio and the target material volume is determined as the determined target material weight.

[0013] In the embodiments of the present application, the container weight ratio satisfies formula (1):

[0014] ρ = ΔM / ΔV; (1)

[0015] Wherein, ρ is the container weight ratio, ΔM is the weight difference, and ΔV is the volume difference.

[0016] In the embodiments of the present application, the measuring device includes a radar and a laser sensor, and the three-dimensional data of the material pile before and after loading sent by the measuring device are respectively received, including:

[0017] The first direction and the second direction of the two-dimensional coordinate set of the material pile sent by the radar before and after the material pile is loaded are respectively received, and the one-dimensional coordinate set of the third direction of the material pile sent by the laser sensor is received;

[0018] The three-dimensional data of the material pile before and after loading is obtained by combining the two-dimensional coordinate set and the one-dimensional coordinate set;

[0019] Wherein, the first direction is the direction of the width of the material pile, the second direction is the direction of the depth of the material pile, and the third direction is the direction of the length of the material pile.

[0020] In the embodiments of the present application, the measuring device further includes a distributing vehicle, and the laser sensor is arranged on the distributing vehicle, and the one-dimensional coordinate set of the third direction of the material pile sent by the laser sensor includes:

[0021] The distributing vehicle is controlled to move;

[0022] The one-dimensional coordinate of the material pile collected by the laser sensor is received at a preset period to obtain the one-dimensional coordinate set.

[0023] In the embodiments of the present application, the method further includes:

[0024] In the case of receiving the mapping instruction, the distributing vehicle is controlled to run according to the preset track;

[0025] The three-dimensional data of the material field collected by the radar and the laser sensor during the running of the distributing vehicle according to the preset track is obtained;

[0026] Mapping is performed according to the three-dimensional data of the material field to obtain a point cloud map of the material field.

[0027] In the embodiments of the present application, the method further includes:

[0028] In the case of receiving the stop instruction, the distributing vehicle is controlled to stop running.

[0029] The second aspect of the present application provides a controller, including:

[0030] a memory configured to store instructions; and

[0031] a processor configured to call the instructions from the memory and implement the method of the stockyard storage yard according to the above when executing the instructions.

[0032] The third aspect of the present application provides a stockyard storage yard system, comprising:

[0033] the controller according to the above;

[0034] a measuring device in communication with the controller, configured to obtain three-dimensional data of the stockpile and send the three-dimensional data to the controller.

[0035] In the embodiments of the present application, the measuring device comprises:

[0036] a material distribution vehicle in communication with the controller, configured to move according to the instructions of the controller;

[0037] a radar provided on the material distribution vehicle, in communication with the controller, configured to obtain a two-dimensional coordinate set of the first direction and the second direction of the stockpile and send the two-dimensional coordinate set to the controller;

[0038] a laser sensor provided on the material distribution vehicle, in communication with the controller, configured to obtain a one-dimensional coordinate set of the third direction of the stockpile and send the one-dimensional coordinate set to the controller.

[0039] The fourth aspect of the present application provides a machine readable storage medium, which stores instructions for causing a machine to execute the method of the stockyard storage yard according to the above.

[0040] Through the above technical solution, the three-dimensional data of the stockpile before and after loading is respectively received by the measuring device; the initial material volume is determined according to the three-dimensional data of the stockpile before loading; the target material volume is determined according to the three-dimensional data of the stockpile after loading; the difference between the target material volume and the initial material volume is determined as the volume difference; the weight of the stockpile before and after loading is respectively obtained; the weight difference is determined according to the weight of the stockpile before and after loading; the bulk density ratio is determined according to the volume difference and the weight difference; finally, the product of the bulk density ratio and the target material volume is determined as the determined target material weight. By measuring the stockpile in three dimensions to obtain the volume, and then determining the weight according to the bulk density ratio, manual operation is reduced, and the accuracy and efficiency of the storage yard are improved.

[0041] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments and together with the description serve to explain the embodiments. In the drawings:

[0043] Figure 1 A structural diagram of a system of a stockyard storage and transportation yard according to an embodiment of the present application is schematically shown;

[0044] Figure 2 A flow chart of a method of a stockyard storage and transportation yard according to an embodiment of the present application is schematically shown;

[0045] Figure 3 A flow chart of a method of a stockyard storage and transportation yard according to an embodiment of the present application is schematically shown;

[0046] Figure 4 A structural block diagram of a controller according to an embodiment of the present application is schematically shown.

[0047] Legend of Signs

[0048] 101 controller 102 measuring device

[0049] 103 spreader 104 radar

[0050] 105 laser sensor DETAILED DESCRIPTION

[0051] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the embodiments of the present application, and are not intended to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0052] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are merely used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications also change accordingly.

[0053] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0054] Figure 1 The structural diagram of the system of the stockyard storage and transportation warehouse according to the embodiments of the present application is schematically shown. As shown in Figure 1 The embodiments of the present application provide a system of stockyard storage and transportation warehouse, which can include a controller 101 and a measuring device 102. The measuring device 102 can include a spreader 103, a radar 104 and a laser sensor 105.

[0055] In the embodiments of the present application, the system of stockyard storage and transportation warehouse includes a controller 101 and a measuring device 102. The measuring device 102 can include a spreader 103, a radar 104 and a laser sensor 105. The controller 101 and the measuring device 102 are in communication. The measuring device 102 is configured to obtain three-dimensional data of the stockpile and send the three-dimensional data to the controller 101. The controller 101 receives the three-dimensional data sent by the measuring device 102 and processes the data to inventory the stockyard. The spreader 103 is configured to move according to the instruction of the controller 101. The radar 104 is arranged on the spreader 103 and is configured to obtain a two-dimensional coordinate set of the first direction and the second direction of the stockpile and send the two-dimensional coordinate set to the controller 101. The laser sensor 105 is arranged on the spreader 103 and is configured to obtain a one-dimensional coordinate set of the third direction of the stockpile and send the one-dimensional coordinate set to the controller 101.

[0056] Figure 2 The flow chart of the method of stockyard storage and transportation warehouse according to the embodiments of the present application is schematically shown. As shown in Figure 2 The embodiments of the present application provide a method of stockyard storage and transportation warehouse, and the control method is mainly applied to the controller 101 in the above Figure 1 The method can include the following steps:

[0057] Step 201, receiving the three-dimensional data of the stockpile before and after loading sent by the measuring device respectively;

[0058] Step 202, determining the initial material volume according to the three-dimensional data of the stockpile before loading;

[0059] Step 203, determining the target material volume according to the three-dimensional data of the material pile after loading;

[0060] Step 204, determining the volume difference as the difference between the target material volume and the initial material volume;

[0061] Step 205, respectively acquiring the weight of the material pile before loading and after loading;

[0062] Step 206, determining the weight difference according to the weight of the material pile before loading and after loading;

[0063] Step 207, determining the volume-weight ratio according to the volume difference and the weight difference;

[0064] Step 208, determining the target material weight as the product of the volume-weight ratio and the target material volume.

[0065] In the embodiments of the present application, the measuring device refers to a device used to acquire the three-dimensional data of the material pile. The measuring device can include but is not limited to a spreader, a radar, and a laser sensor, etc. The three-dimensional data refers to the data of the material pile in three dimensions, which can include the width, length, and height of the material pile. The initial material volume refers to the volume of the material pile before loading. The target material volume refers to the volume of the material pile after loading, and also refers to the volume of the material to be obtained by inventory. The volume-weight ratio refers to the weight of the object per unit volume. By calculating the volume-weight ratio, the weight of the material pile can be determined. The target material weight can refer to the weight of the material to be obtained by inventory.

[0066] The measuring device communicates with the controller. The measuring device first acquires the three-dimensional data of the material pile, i.e., the length, width, and height data of the material pile. Then the three-dimensional data of the material pile is sent to the controller. The controller respectively receives the three-dimensional data of the material pile before loading and after loading sent by the measuring device. And respectively determines the initial material volume and the target material volume according to the three-dimensional data before loading and after loading. That is, the initial material volume is determined according to the three-dimensional data before loading, and the target material volume is determined according to the three-dimensional data after loading. When determining the material volume according to the three-dimensional data, point cloud algorithm or other methods can be used. When the measuring device acquires the three-dimensional data, the radar and the laser sensor need to work together. The radar is used to acquire the two-dimensional coordinate set of the material pile in the width and depth directions, and the laser sensor is used to acquire the one-dimensional coordinate set of the material pile in the length direction. The one-dimensional coordinate set and the two-dimensional coordinate set are combined to obtain the three-dimensional data of the material pile. By determining the material volume according to the three-dimensional data acquired by the measuring device, the manual operation can be reduced, and the measurement accuracy can be improved.

[0067] After obtaining the initial and target material volumes, the controller subtracts the target and initial material volumes to obtain the volume difference. The controller also acquires the weight of the material pile before and after loading, and subtracts this weight from the initial weight to obtain the weight difference. This allows the determination of the volume and weight differences that satisfy the same conditions. These volume and weight differences can then be used to determine the bulk density ratio.

[0068] After obtaining the volume and weight differences of the material piles, the bulk density ratio is determined based on these differences. The bulk density ratio satisfies the formula ρ = ΔM / ΔV, where ρ is the bulk density ratio, ΔM is the weight difference, and ΔV is the volume difference. By determining the bulk density ratio, the weight of different batches of material piles with different volumes can be determined. For example, during a feeding process, after determining the target material volume based on three-dimensional data, the target material volume is multiplied by the bulk density ratio to determine the target material weight. Before feeding, the batch of material can be weighed to determine the actual weighed weight, thereby judging whether there is an error between the target material weight determined by the bulk density ratio and the actual weighed weight. If an error exists, the bulk density ratio needs to be corrected. Determining the target material weight based on the bulk density ratio is more accurate than the existing method of multiplying volume by average density.

[0069] The above technical solution involves receiving three-dimensional data of the material pile before and after loading from a measuring device; determining the initial material volume based on the three-dimensional data before loading; determining the target material volume based on the three-dimensional data after loading; defining the volume difference between the target material volume and the initial material volume; acquiring the weight of the material pile before and after loading; determining the weight difference based on the weight of the material pile before and after loading; determining the bulk density ratio based on the volume difference and weight difference; and finally, determining the target material weight by multiplying the bulk density ratio and the target material volume. By performing three-dimensional measurement of the material pile to obtain its volume and then determining its weight based on the bulk density ratio, manual operation is reduced, improving the accuracy and efficiency of inventory management.

[0070] In this embodiment of the application, the bulk density ratio satisfies formula (1):

[0071] ρ=△M / △V;(1)

[0072] Where ρ is the bulk density ratio, ΔM is the weight difference, and ΔV is the volume difference.

[0073] Specifically, the bulk density ratio satisfies the formula ρ=△M / △V. Wherein, ρ is the bulk density ratio, △M is the weight difference, and △V is the volume difference. The weight difference is obtained by subtracting the weight before the material is loaded from the weight after the material is loaded. When determining the volume difference, the three-dimensional data of the material pile before loading and the three-dimensional data of the material pile after loading can be obtained by the measuring device, and the initial material volume and the target material volume are determined according to the three-dimensional data before loading and the three-dimensional data after loading respectively, and then the target material volume and the initial material volume are subtracted to obtain the volume difference. By determining the bulk density ratio, the weight of the material pile of different batches and different volumes can be determined.

[0074] In the embodiment of the present application, the measuring device includes a radar and a laser sensor, and the three-dimensional data of the material pile before loading and the three-dimensional data of the material pile after loading sent by the measuring device are respectively received, including:

[0075] The first direction and the second direction of the two-dimensional coordinate set of the material pile sent by the radar before and after the material pile is loaded, and the one-dimensional coordinate set of the third direction of the material pile sent by the laser sensor are received;

[0076] The two-dimensional coordinate set and the one-dimensional coordinate set are combined to obtain the three-dimensional data of the material pile before and after loading;

[0077] Wherein, the first direction is the direction of the width of the material pile, the second direction is the direction of the depth of the material pile, and the third direction is the direction of the length of the material pile.

[0078] Specifically, the measuring device can include a radar and a laser sensor. The radar is used to measure a two-dimensional coordinate set of the stockpile in a first direction and a second direction, and the laser sensor is used to measure a one-dimensional coordinate set of the stockpile in a third direction. The first direction refers to a direction along the width of the stockpile, the second direction refers to a direction along the depth of the stockpile, i.e., the height of the stockpile, and the third direction refers to a direction along the length of the stockpile. The radar can determine the distance of the radar to the stockpile by sending a signal, i.e., the distance along the width direction of the stockpile. Meanwhile, because the material car is suspended above the stockpile, the depth of the stockpile, i.e., the distance along the depth direction of the stockpile, can be determined by sending a signal downward. The laser sensor is arranged on the material car and moves together with the material car. After moving, the laser sensor can determine the distance of the laser sensor to the origin, i.e., the distance along the length direction of the stockpile, by emitting laser. The origin is the starting point of the movement of the material car. The radar can include a millimeter wave radar and a laser radar. The millimeter wave radar has the characteristic of fast real-time and can be used to measure the height of the stockpile. The laser radar can be used to measure the width of the stockpile. The controller can receive the two-dimensional coordinate set along the width direction and the depth direction of the stockpile before and after the stockpile is loaded, and the one-dimensional coordinate set along the length direction, and then combine the two-dimensional coordinate set and the one-dimensional coordinate set to obtain the three-dimensional data of the stockpile before and after the stockpile is loaded, respectively. By using the radar and the laser sensor to jointly measure, automatic measurement of the data of the stockpile in three directions can be realized, manual operation is reduced, and the measurement accuracy is improved.

[0079] In the embodiment of the present application, the measuring device further includes a material car, the laser sensor is arranged on the material car, and the one-dimensional coordinate set of the third direction of the stockpile received by the laser sensor includes:

[0080] The material car is controlled to move;

[0081] The one-dimensional coordinate of the stockpile collected by the laser sensor is received at a preset period to obtain the one-dimensional coordinate set.

[0082] Specifically, the measuring device can further include a material car, which refers to a device composed of a frame, a hopper, a vibrator, a shock-absorbing spring, a walking mechanism, a buckle mold bucket lifting mechanism, and an electrical system, and is used for unloading. The laser sensor and the radar are both arranged on the material car and are fixed according to the relative position. When the controller issues a control instruction, the controller controls the material car to move, and the laser sensor also moves with the material car. Taking the starting position of the material car as the origin, the laser sensor can measure the distance of the position of the material car after moving to the origin, i.e., the one-dimensional coordinate along the third direction. By moving the material car and the laser sensor together, data collection along the length direction of the stockpile can be realized.

[0083] In the embodiment of the present application, the method can further include:

[0084] In the case of receiving the mapping instruction, the controller controls the spreader to run according to the preset track;

[0085] In the process of running according to the preset track, the radar and the laser sensor collect the three-dimensional data of the stockyard;

[0086] According to the three-dimensional data of the stockyard, mapping is performed to obtain the point cloud map of the stockyard.

[0087] Specifically, the point cloud map refers to a data matrix composed of point cloud information. In the process of data collection by the measuring device, the stockyard environment can be mapped to obtain the stockyard material condition. When receiving the start real-time mapping instruction, the spreader can be controlled to run according to the preset track. The preset track refers to the preset running track of the spreader. For example, the preset track can be running along the stockyard for one round. And in the process of running of the spreader, the radar and the laser sensor collect the three-dimensional data of the stockyard in real time, collect the data of each point of the stockyard, and finally record the data in the form of a point cloud map to obtain the point cloud map of the stockyard. Through real-time mapping of the stockyard, the current stockyard condition information can be obtained in real time.

[0088] In the embodiment of the application, the method can further include:

[0089] In the case of receiving the stop instruction, the spreader is controlled to stop running.

[0090] Specifically, when the spreader completes running according to the preset track and returns to the original point, that is, the spreader has completed running for one round. The controller issues a stop instruction to control the spreader to stop running. At this time, the data collection of the measuring device on the stockpile has been completed. The spreader can stop moving.

[0091] Through the above technical solution, the three-dimensional data of the stockpile before and after loading is respectively received by the measuring device; the initial material volume is determined according to the three-dimensional data of the stockpile before loading; the target material volume is determined according to the three-dimensional data of the stockpile after loading; the difference between the target material volume and the initial material volume is determined as the volume difference; the weight of the stockpile before and after loading is respectively obtained; the weight difference is determined according to the weight of the stockpile before and after loading; the bulk density ratio is determined according to the volume difference and the weight difference; and finally the product of the bulk density ratio and the target material volume is determined as the determined target material weight. Through three-dimensional measurement of the stockpile to obtain the volume, and then determining the weight according to the bulk density ratio, manual operation is reduced, and the accuracy and efficiency of the inventory are improved.

[0092] Figure 3 A flowchart of a method of a stockyard storage and transportation warehouse according to an embodiment of the application is schematically shown. As shown in Figure 3 The embodiment of the application provides a method of a stockyard storage and transportation warehouse, which can include the following steps:

[0093] S1, map system operation task;

[0094] S2, scanning type parameter determination;

[0095] S3, equipment state inspection;

[0096] S4, determine whether to build a map, if yes, enter S5, if no, return to S3;

[0097] S5, start positioning communication;

[0098] S6, ready data acquisition;

[0099] S7, single-point laser ranging calculation;

[0100] S8, material car body positioning;

[0101] S9, data acquisition;

[0102] S10, map update;

[0103] S11, map data calculation processing, return to S1;

[0104] S12, determine whether a stop instruction is received, if yes, enter S13, if no, return to S9;

[0105] S13, data acquisition is completed.

[0106] Specifically, first, the operation task of the map system is determined by the management system, and then the parameters of the scanning type are determined, and then the equipment state is checked. In the case of normal equipment state, it is judged whether to start real-time mapping. Mapping the stockyard requires constructing according to the collected data during data collection, therefore, it is necessary to judge whether real-time mapping has been started, and then control the spreader to start moving when real-time mapping has been started. In the case of not starting real-time mapping, the equipment state is continuously checked. In the case of starting real-time mapping, the positioning communication module is started, and the data collection is ready. At the same time, the spreader body is positioned by single-point laser ranging calculation. By starting the positioning communication module, real-time positioning of the spreader can be realized, and the distance from the spreader to the origin can be obtained by single-point laser ranging. The origin refers to the starting position of the spreader movement. When all the preparations are completed, data collection is started. During data collection, the map is updated in real time. Because after collecting the stockyard data, when the stockyard information changes, the map of the stockyard will also be updated in real time. After processing the data, the map system operation task determination step is returned to determine whether the task needs to be changed according to the updated data and map. When a stop instruction is received, it means that the data collection has been completed. When no stop instruction is received, data collection continues. By constructing the map of the stockyard, the stockyard information can be obtained. And by collecting data in real time and updating the map, real-time updating and obtaining of the stockyard information can be realized.

[0107] Figure 4 A structural block diagram of a controller according to an embodiment of the present application is schematically shown. As shown in the figure, Figure 4 the controller according to an embodiment of the present application can comprise:

[0108] a memory 410 configured to store instructions; and

[0109] a processor 420 configured to call the instructions from the memory 410 and capable of realizing the method of the stockyard storage and transportation warehouse described above when executing the instructions.

[0110] Specifically, in the embodiment of the present application, the processor 420 can be configured to:

[0111] receive the three-dimensional data of the stockpile before and after loading sent by the measuring device respectively;

[0112] determine the initial material volume according to the three-dimensional data of the stockpile before loading;

[0113] determine the target material volume according to the three-dimensional data of the stockpile after loading;

[0114] determine the volume difference as the difference between the target material volume and the initial material volume;

[0115] respectively acquire the weight of the material pile before and after the material pile is loaded;

[0116] determine the weight difference according to the weight of the material pile before and after the material pile is loaded;

[0117] determine the volume-weight ratio according to the volume difference and the weight difference;

[0118] determine the product of the volume-weight ratio and the target material volume as the determined target material weight.

[0119] In the embodiments of the present application, the volume-weight ratio satisfies formula (1):

[0120] ρ = ΔM / ΔV; (1)

[0121] wherein, ρ is the volume-weight ratio, ΔM is the weight difference, and ΔV is the volume difference.

[0122] Further, the processor 420 can also be configured to:

[0123] The measurement device includes a radar and a laser sensor, and the three-dimensional data of the material pile before and after the material pile is loaded, which is respectively received by the measurement device, includes:

[0124] The measurement device includes a radar and a laser sensor, and the three-dimensional data of the material pile before and after the material pile is loaded, which is respectively received by the measurement device, includes:

[0125] The three-dimensional data of the material pile before and after the material pile is loaded is obtained by combining the two-dimensional coordinate set and the one-dimensional coordinate set;

[0126] wherein, the first direction is the direction of the width of the material pile, the second direction is the direction of the depth of the material pile, and the third direction is the direction of the length of the material pile.

[0127] Further, the processor 420 can also be configured to:

[0128] The measurement device further includes a material distribution vehicle, and the laser sensor is arranged on the material distribution vehicle, and the one-dimensional coordinate set of the material pile sent by the laser sensor includes:

[0129] control the material distribution vehicle to move;

[0130] receive the one-dimensional coordinate of the material pile collected by the laser sensor at a preset period to obtain the one-dimensional coordinate set.

[0131] Further, the processor 420 can also be configured to:

[0132] In the case of receiving the mapping instruction, control the material distribution vehicle to run according to the preset track;

[0133] acquire the three-dimensional data of the material yard collected by the radar and the laser sensor during the running of the material distribution vehicle according to the preset track;

[0134] According to the stockyard three-dimensional data, mapping is performed to obtain a point cloud diagram of the stockyard.

[0135] Further, the processor 420 can also be configured to:

[0136] In the case of receiving the stop instruction, the controller controls the material car to stop running.

[0137] According to the above technical solution, the three-dimensional data of the material pile before and after loading is respectively received by the measuring device; the initial material volume is determined according to the three-dimensional data of the material pile before loading; the target material volume is determined according to the three-dimensional data of the material pile after loading; the difference between the target material volume and the initial material volume is determined as the volume difference; the weight of the material pile before and after loading is respectively obtained; the weight difference is determined according to the weight of the material pile before and after loading; the bulk density ratio is determined according to the volume difference and the weight difference; and finally, the product of the bulk density ratio and the target material volume is determined as the determined target material weight. The volume is obtained by three-dimensional measurement of the material pile, and then the weight is determined according to the bulk density ratio, which reduces manual operation and improves the accuracy and efficiency of the inventory.

[0138] As shown in Figure 1 The system of the stockyard storage and transportation warehouse provided by the embodiments of the present application can include:

[0139] The above controller 101;

[0140] The measuring device 102 communicates with the controller 101 and is configured to obtain three-dimensional data of the material pile and send the three-dimensional data to the controller 101.

[0141] Specifically, the system of the stockyard storage and transportation warehouse can include a controller 101 and a measuring device 102, and the controller 101 and the measuring device 102 communicate. The measuring device 102 is configured to obtain three-dimensional data of the material pile and send the three-dimensional data to the controller 101. The controller 101 receives the three-dimensional data sent by the measuring device 102 and processes the three-dimensional data to obtain the volume of the material pile. The controller 101 simultaneously obtains the weight of the material pile before and after loading, and determines the bulk density ratio according to the weight and the volume. Thus, the weight of the material pile is determined, and the inventory of the stockyard storage and transportation is realized.

[0142] In the embodiments of the present application, the measuring device 102 can include:

[0143] The material car 103 communicates with the controller 101 and is configured to move according to the instruction of the controller 101;

[0144] The radar 104 is arranged on the material distributing vehicle 103 and communicates with the controller 101, and is configured to acquire a two-dimensional coordinate set of the first direction and the second direction of the material pile, and send the two-dimensional coordinate set to the controller 101.

[0145] The laser sensor 105 is arranged on the material distributing vehicle 103 and communicates with the controller 101, and is configured to acquire a one-dimensional coordinate set of the third direction of the material pile, and send the one-dimensional coordinate set to the controller 101.

[0146] Specifically, the measuring device 102 can include the material distributing vehicle 103, the radar 104 and the laser sensor 105. The material distributing vehicle 103 is configured to move according to the instruction of the controller 101. The radar 104 is arranged on the material distributing vehicle 103 and is configured to acquire a two-dimensional coordinate set of the first direction and the second direction of the material pile, and send the two-dimensional coordinate set to the controller 101. The laser sensor 105 is arranged on the material distributing vehicle 103 and is configured to acquire a one-dimensional coordinate set of the third direction of the material pile, and send the one-dimensional coordinate set to the controller 101. After receiving the instruction sent by the controller 101, the material distributing vehicle 103 starts to move, and the radar 104 and the laser sensor 105 also move with the material distributing vehicle 103. During the movement, the radar 104 and the laser sensor 105 start to collect three-dimensional data of the material pile. After collecting the three-dimensional data, the three-dimensional data is sent to the controller 101 for processing. Through the joint collection of the material distributing vehicle 103, the radar 104 and the laser sensor 105, automatic collection of the material data can be realized, manual operation is reduced, and the accuracy of data collection is improved.

[0147] The embodiment of the present application also provides a machine readable storage medium, which stores instructions for causing a machine to execute the method of the stockyard storage and transportation rack.

[0148] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0149] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0150] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0151] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. ​ one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0152] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0153] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. The memory can also include non-volatile memory, such as read only memory (ROM) for storing structural information and / or instruction code to implement the functions of the computing device. The memory can additionally or alternatively include mass storage for persistent storage of information and instructions.

[0154] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0155] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0156] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method for storing and transporting inventory in a material yard, characterized in that, A system for use in a material yard storage and transportation pallet system, the system including a controller and a measuring device, the controller and the measuring device communicating with each other, the method including: The three-dimensional data of the material pile before and after feeding, sent by the measuring device, are received respectively. The initial material volume is determined based on the three-dimensional data of the stockpile before loading. The target material volume is determined based on the three-dimensional data of the material pile after loading. The difference between the target material volume and the initial material volume is defined as the volume difference; The weight of the material pile before and after loading is obtained respectively; The weight difference is determined based on the weight of the material pile before and after loading. The bulk density ratio is determined based on the volume difference and the weight difference. The product of the bulk density ratio and the volume of the target material is used to determine the weight of the target material. The bulk density ratio satisfies formula (1): ρ=△M / △V; (1) Where ρ is the bulk density ratio, ΔM is the weight difference, and ΔV is the volume difference.

2. The method according to claim 1, characterized in that, The measuring device includes radar and laser sensors, and the three-dimensional data of the material pile before and after loading, respectively received by the measuring device, include: Before and after the material is loaded into the material pile, the radar sends a set of two-dimensional coordinates of the material pile in the first and second directions, respectively, and the laser sensor sends a set of one-dimensional coordinates of the material pile in the third direction. By combining the two-dimensional coordinate set and the one-dimensional coordinate set, three-dimensional data of the material pile before and after feeding can be obtained; Wherein, the first direction is the direction of the width of the material pile, the second direction is the direction of the depth of the material pile, and the third direction is the direction of the length of the material pile.

3. The method according to claim 2, characterized in that, The measuring device further includes a fabric placement vehicle, and the laser sensor is mounted on the fabric placement vehicle. The set of one-dimensional coordinates of the material pile in a third direction, received by the laser sensor, includes: Control the movement of the fabric cart; The laser sensor collects one-dimensional coordinates of the material pile at a preset period to obtain the set of one-dimensional coordinates.

4. The method according to claim 3, characterized in that, The method further includes: Upon receiving a mapping instruction, the fabric carrier is controlled to run along a preset trajectory; Acquire the three-dimensional data of the material yard collected by the radar and the laser sensor during the operation of the fabric carrier according to the preset trajectory; A point cloud map of the material yard is obtained by constructing a map based on the three-dimensional data of the material yard.

5. The method according to claim 4, characterized in that, The method further includes: Upon receiving a stop command, the fabric carrier is controlled to stop operating.

6. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method of the yard storage and transport system according to any one of claims 1 to 5.

7. A system for storing and transporting pallets in a material yard, characterized in that, include: The controller according to claim 6; The measuring device, which communicates with the controller, is configured to acquire three-dimensional data of the stockpile and send the three-dimensional data to the controller.

8. The system according to claim 7, characterized in that, The measuring device includes: The fabric carriage communicates with the controller and is configured to move according to the controller's instructions; The radar, installed on the fabric carrier, communicates with the controller and is configured to acquire a set of two-dimensional coordinates of the material pile in a first direction and a second direction, and send the set of two-dimensional coordinates to the controller; A laser sensor, mounted on the fabric carrier, communicates with the controller and is configured to acquire a set of one-dimensional coordinates of the third direction of the material pile and send the set of one-dimensional coordinates to the controller.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method of the stockyard storage and transportation system according to any one of claims 1 to 5.

Images