Cable reel storage control method and system, medium and equipment

Abstract

The invention discloses a cable reel storage control method and system, a medium and equipment. The cable reel storage control method comprises the following steps: binding a cable reel pickup position according to the number information of cable reels in receipt information; the crane is controlled to move to the empty truck, the empty truck is scanned through a sensor on the crane, and the height, the angle and the coordinate matrix of a truck plate are obtained through calculation; the crane is controlled to walk to the cable tray goods taking position, the crane descends to the height of the cable tray, a sensor on the crane scans the cable tray at the goods taking position at a constant speed to obtain cable tray depth data, and the fork entering position and cable tray size information are obtained through calculation based on the cable tray depth data; according to the height, the angle and the coordinate matrix of the sweeping board and the size information of the cable reel, the target storage position of the cable reel is calculated; and controlling the traveling crane to enter a fork based on the fork entering position, and moving the cable reel to a truck plate storage target position to complete cable reel storage control. The cable tray storage layout can be optimized, and the automation level and accuracy of cable tray storage are further improved.

Description

Background Art

[0002] Cable reels are used as storage, management and transportation equipment for cables and wires. They are usually made of metal or other solid materials and are designed to accommodate cable curling and keep them neat and orderly. They are widely used in various industries. They not only help protect cables from damage, but also improve the efficiency of cable storage and use. However, with the continuous improvement of productivity and efficiency requirements, traditional manual operations and simple mechanical devices have been unable to meet the needs of modern warehousing and logistics.

[0003] In industries such as power, communications, construction, shipbuilding, and automobile manufacturing, the storage of cable reels involves multiple conflicting goals. First, it is necessary to maximize space utilization and store as many cable reels as possible in a limited space. Second, it is necessary to consider loading and unloading performance to ensure that the storage and retrieval of cable reels is both fast and accurate, reducing waiting time and operating costs. In addition, it is necessary to consider the safety of the operation to avoid injuries and losses caused by improper operation. There is often a trade-off between these three goals, and it is difficult to optimize a single goal while taking into account other goals.

[0004] Although existing automation technologies have improved the efficiency of cable reel storage to a certain extent, they still face many challenges in practical applications. First, many automation systems only optimize for a single goal, ignoring other equally important goals. Second, the warehouse environment is dynamically changing, and the size, shape, and weight of cable reels vary. Existing optimization algorithms may lack sufficient adaptability to cope with this diversity and variability. Finally, existing automation systems have certain limitations in achieving efficient and intelligent cable reel storage management, and cannot meet the urgent needs of modern production lines for high efficiency and high automation.

[0005] The storage of cable reels involves multiple conflicting goals. However, existing automation technologies face challenges in achieving accurate cable reel storage. Although some automation systems attempt to optimize algorithms to improve cable reel storage layouts, they often only optimize for a single goal, such as maximizing space utilization or improving loading and unloading performance. Single-goal optimization is difficult to meet actual needs. Secondly, the warehouse environment is dynamically changing, and the size, shape, and weight of cable reels vary. Existing optimization algorithms may lack sufficient adaptability to cope with this diversity and variability. There are certain limitations in the automated cable reel storage control, and it is impossible to achieve efficient and intelligent cable reel storage management, and it is difficult to meet the needs of modern production lines for high efficiency and high automation.

[0006] The complexity of cable drum storage management lies in the fact that it needs to meet multiple interrelated and potentially conflicting goals at the same time. In addition to space utilization and loading and unloading efficiency, it also includes but is not limited to:

[0007] Safety: Ensure that cable reels do not cause safety accidents due to unstable stacking or improper operation during storage and transportation.

[0008] Accessibility: It is easy to quickly find and remove specific types of cable reels, reducing searching time and improving productivity.

[0009] Maintenance costs: Optimize storage layout to reduce maintenance costs caused by frequently moving or rearranging cable trays.

[0010] Environmental adaptability: Consider the impact of warehouse temperature, humidity and other environmental factors on the cable reel and the cables inside it to ensure long-term storage quality.

[0011] Multi-objective optimization requires the algorithm to be able to find the best balance between these objectives, rather than just maximizing or minimizing a single objective, which greatly increases the complexity of the problem and the difficulty of solving it.

[0012] Cable reels are diverse in size, shape, weight, and the types and specifications of the cables they carry. This diversity requires automation systems to be highly flexible and adaptable, and to be able to intelligently adjust according to the characteristics of different cable reels. However, existing optimization algorithms are often based on preset models or parameters, and it is difficult to respond to changes in cable reel characteristics in real time and accurately.

[0013] In addition, the dynamic changes in the warehouse environment, such as the entry of new cable reels, the exit of old cable reels, and fluctuations in inventory, also require the automation system to respond quickly and adjust storage strategies. This dynamic nature places higher demands on the system's real-time data processing capabilities and decision-making speed. Summary of the invention

[0014] The technical problem to be solved by the present invention is to provide a cable reel storage control method, system, medium and equipment to address the technical problem that the cable reel storage control method cannot achieve efficient and intelligent cable reel storage management and is difficult to meet the requirements of modern production lines for high efficiency and high automation.

[0015] The present invention adopts the following technical solutions:

[0016] A cable reel storage control method comprises the following steps:

[0017] Bind the cable reel pickup location according to the quantity information of the cable reels in the document information;

[0018] Control the crane to move to the empty truck, scan the empty truck through the sensor on the crane and calculate the height, angle and coordinate matrix of the truck plate;

[0019] Control the crane to move to the cable drum pickup position, and then lower the crane to the cable drum height. The sensor on the crane scans the cable drum at the pickup position at a constant speed to obtain the cable drum depth data. Based on the cable drum depth data, the fork position and cable drum size information are calculated.

[0020] Calculate the target storage position of the cable drum according to the height, angle and coordinate matrix of the vehicle plate and the size information of the cable drum;

[0021] The crane is controlled to enter the fork based on the fork position, and the cable reel is moved to the target storage position on the truck plate to complete the cable reel storage control.

[0022] Preferably, the height, angle and coordinate matrix of the truck plate are calculated as follows:

[0023] The sensor on the crane scans the empty truck and generates depth data, which includes the X, Y, and Z axis coordinates of the empty truck;

[0024] The recognition system generates a real-time point cloud image of the truck panel based on the generated depth data;

[0025] Construct a neural convolutional network model, use historical point cloud data to train the neural convolutional network model, input the obtained real-time point cloud image of the truck plate into the trained neural convolutional network model to obtain the position of the truck plate;

[0026] The recognition system calculates the height, angle and coordinate matrix of the truck plate based on its position.

[0027] Preferably, the recognition system generates a real-time point cloud image of the truck plate according to the generated depth data, specifically:

[0028] Each pixel value in the depth map represents the depth from the camera to the corresponding point in the scene. The depth value is converted into a point in 3D space. For each pixel in the depth map, the 2D image coordinates (u, v) are converted into 3D space coordinates (X, Y, Z) using the parameter focal length f and the principal point coordinates (u0, v0) in the camera.

[0029] Preferably, 3D space coordinates (X, Y, Z):

[0030]

[0031] Among them, (f x ,f y ) is the focal length of the camera, and f x =f y , depth_map_value represents the original pixel value in the depth map, and scale_factor represents the scale factor between the depth value and the actual depth.

[0032] Preferably, the height, angle and coordinate matrix of the vehicle plate are calculated as follows:

[0033] The height H of the truck bed is calculated as follows:

[0034] H=max(Z)-min(Z)

[0035] Among them, max(Z) represents the maximum value of the Z coordinates of all points in the point cloud data; min(Z) represents the minimum value of the Z coordinates of all points in the point cloud data;

[0036] The truck bed angle is calculated as follows

[0037]

[0038] Wherein, N represents the normal vector of the vehicle panel surface, G represents the gravity vector, and θ represents the angle between the normal vector of the vehicle panel surface and the gravity vector;

[0039] Generate a coordinate matrix based on the height and angle of the truck bed.

[0040] Preferably, the target storage position of the cable drum is calculated based on the height, angle and coordinate matrix of the vehicle plate and the cable drum size information as follows:

[0041] Calculate the stability f of the cable drum on the truck bed 稳定性 , Safety of cable reels on truck decks 稳定性 , Cable loading and unloading convenience 便利性 , maximize the space utilization of the vehicle panel 空间利用率 ;

[0042] Based on the obtained stability f 稳定性 、Safety 稳定性 , Convenience 便利性 and space utilization f 空间利用率 Calculate the target storage position of the cable reel f 总 .

[0043] Preferably, the cable drum target storage position f 总 for:

[0044] f 总 =w 稳定性 ·f 稳定性 +w 安全性 ·f 安全性 +w 便利性 ·f 便利性 +w 空间利用率 ·f 空间利用率

[0045] Among them, w 稳定性 、w 安全性 、w 便利性 、w空间利用率 is the weight of each objective function.

[0046] In a second aspect, an embodiment of the present invention provides a cable reel storage control system, comprising:

[0047] The location module binds the cable reel pickup location according to the quantity information of the cable reels in the document information;

[0048] The recognition module controls the crane to move to the empty truck, scans the empty truck through the sensor on the crane, and calculates the height, angle and coordinate matrix of the truck plate;

[0049] The calculation module controls the crane to move to the cable drum pickup position, the crane is lowered to the cable drum height, and the sensor on the crane uniformly scans the cable drum at the pickup position to obtain the cable drum depth data, and calculates the fork position and cable drum size information based on the cable drum depth data;

[0050] The analysis module calculates the target storage position of the cable drum according to the height, angle and coordinate matrix of the vehicle plate and the size information of the cable drum;

[0051] The execution module controls the crane to enter the fork based on the fork position, and moves the cable drum to the target storage position on the truck board to complete the cable drum storage control.

[0052] In a third aspect, a computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned cable reel storage control method when executing the computer program.

[0053] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, including a computer program, which implements the steps of the above-mentioned cable reel storage control method when executed by a processor.

[0054] Compared with the prior art, the present invention has at least the following beneficial effects:

[0055] A cable drum storage control method, which controls a traveling crane to move to an empty truck through a WCS warehouse control system, wherein a sensor on the traveling crane scans the empty truck and generates depth data, and a recognition system generates a truck plate point cloud map according to the generated depth data, and trains a model with historical point cloud map data to obtain a trained neural convolutional network model, and inputs real-time point cloud map data into the neural convolutional network model to obtain the truck plate position; the recognition system calculates the height, angle, and coordinate matrix of the plate through the identified plate position, and uses a particle swarm optimization (PSO) algorithm to calculate the target storage position of the cable drum according to the bound pickup position and the height, angle, and coordinate matrix of the plate identified by the recognition system, and at the same time takes into account the stability, safety, loading and unloading convenience, and space utilization of the cable drum, thereby optimizing the storage layout of the cable drum on the truck and improving the space utilization efficiency.

[0056] Furthermore, the WCS warehouse control system controls the crane to move to the empty truck, and the sensor on the crane scans the empty truck and generates depth data. The recognition system generates a point cloud map of the truck plate according to the generated depth data, and trains the model with the historical point cloud map data to obtain the trained neural convolution network model. The real-time point cloud map data is input into the neural convolution network model to obtain the truck plate position; the recognition system calculates the height, angle, and coordinate matrix of the plate through the identified plate position, and uses the particle swarm optimization (PSO) algorithm to calculate the target storage position of the cable drum according to the bound pickup position and the height, angle, and coordinate matrix of the plate identified by the recognition system, and takes into account the stability, safety, loading and unloading convenience, and space utilization of the cable drum to optimize the storage layout of the cable drum on the truck and improve the space utilization efficiency.

[0057] Furthermore, the WCS system controls the crane to move to the cable drum pickup position, the crane descends to the cable drum height, and the sensor on the crane scans the cable drum image at the pickup position at a constant speed and generates depth data; in the present invention, the WCS warehouse control system can accurately control the movement and operation of the crane, and can ensure the accurate storage of the cable drum. The depth data is sent to the recognition system, the recognition system calculates the fork position, and sends the fork position information to the WCS system. The WCS system then controls the crane to fork and move the cable drum to the truck board storage target position. The design of the entire system reduces manual intervention, improves the level of automation, and makes the storage control of the cable drum more intelligent.

[0058] It can be understood that the beneficial effects of the second aspect mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0059] In summary, the present invention can optimize the cable reel storage layout and further improve the automation level and accuracy of cable reel storage.

[0060] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings to be used in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0062] Figure 1 It is a schematic diagram of the process of the present invention;

[0063] Figure 2 A schematic diagram of a computer device provided by an embodiment of the present invention;

[0064] Figure 3 The present invention is a block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] In the description of the present invention, it should be understood that the terms “include” and “comprises” indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0067] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0068] It should be further understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects are in an "or" relationship.

[0069] It should be understood that, although the terms first, second, third, etc. may be used to describe preset ranges, etc. in the embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish preset ranges from each other. For example, without departing from the scope of the embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0070] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0071] Various structural schematic diagrams of the embodiments disclosed in the present invention are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0072] The present invention provides a cable drum storage control method, which uses a sensor on a traveling crane to scan an empty truck and generate depth data, a recognition system generates a truck plate point cloud map according to the generated depth data, historical point cloud map data are used to train a model to obtain a trained neural convolution network model, and real-time point cloud map data are input into the neural convolution network model to obtain the truck plate position; the recognition system calculates the height, angle, and coordinate matrix of the plate through the identified plate position, and uses a particle swarm optimization (PSO) algorithm to calculate the target storage position of the cable drum according to the bound pickup position and the height, angle, and coordinate matrix of the plate identified by the recognition system.

[0073] See also Figure 1 The present invention provides a cable drum storage control method, comprising the following steps:

[0074] S1. The WMS warehouse management system issues loading document information, where the document information includes the number of cable reels, pickup location, and order number;

[0075] S2, the ALMS automatic loading and unloading system receives the document information obtained in step S1 and processes the document information, and binds the cable drum pickup location according to the quantity information of the cable drum in the document information;

[0076] Specifically, the ALMS automatic loading and unloading system binds the pickup location based on the cable reel quantity information in the document information. The ALMS automatic loading and unloading system can reduce reliance on manual operations and improve loading and unloading efficiency.

[0077] S3, the WCS warehouse control system controls the crane to move to the empty truck. The sensor on the crane scans the empty truck and generates depth data. The depth data includes the X, Y, and Z axis coordinates of the empty truck.

[0078] S4, the recognition system generates a real-time point cloud image of the truck plate according to the generated depth data;

[0079] S401. Conversion from depth map to point cloud

[0080] Each pixel value in the depth map represents the depth from the camera to the corresponding point in the scene. The depth value is converted into a point in 3D space. The expression formula is:

[0081]

[0082] Among them, depth_map_value represents the original pixel value in the depth map, and scale_factor represents the scale factor between the depth value and the actual depth.

[0083] S402, point cloud generation

[0084] For each pixel in the depth map, the 2D image coordinates (u, v) are converted to 3D space coordinates (X, Y, Z) using the focal length f and principal point coordinates (u0, v0) in the camera:

[0085]

[0086] Among them, (f x ,f y ) is the focal length of the camera, and f x =f y .

[0087] S5, constructing a neural convolutional network model, using the historical point cloud data to train the neural convolutional network model, inputting the real-time point cloud image of the truck plate obtained in step S4 into the trained neural convolutional network model to obtain the position of the truck plate;

[0088] S6, the recognition system calculates the height, angle and coordinate matrix of the truck plate based on the truck plate position obtained in step S5;

[0089] The height H of the truck bed is calculated as follows:

[0090] H=max(Z)-min(Z)

[0091] Among them, max(Z) represents the maximum value of the Z coordinates of all points in the point cloud data; min(Z) represents the minimum value of the Z coordinates of all points in the point cloud data.

[0092] The truck bed angle is calculated as follows

[0093]

[0094] Wherein, N represents the normal vector of the vehicle panel surface, G represents the gravity vector, and θ represents the angle between the normal vector of the vehicle panel surface and the gravity vector.

[0095] Generate a coordinate matrix based on the height and angle of the truck bed.

[0096] S7, the recognition system sends the height, angle and coordinate matrix of the vehicle plate obtained in step S6 to the ALMS automatic loading and unloading system; the ALMS automatic loading and unloading system uses the particle swarm optimization algorithm (PSO) to calculate the target storage position of the cable drum, and sends the cable drum pickup position and the vehicle plate storage target position to the WCS warehouse control system;

[0097] The WCS warehouse control system controls the traveling crane to move to the cable reel pickup position, and the traveling crane descends to the height of the cable reel. The sensor on the traveling crane scans the image of the cable reel at the pickup position at a uniform speed and generates depth data. In the present invention, the WCS warehouse control system can accurately control the movement and operation of the traveling crane, and can ensure the accurate storage of the cable reel. The depth data is sent to the recognition system, and the recognition system calculates the fork entry position and sends the fork entry position information to the WCS warehouse control system. The WCS warehouse control system then controls the traveling crane to fork and move the cable reel to the truck board storage target position.

[0098] According to the bound pickup location and the height, angle, and coordinate matrix of the vehicle plate identified by the recognition system, the particle swarm optimization (PSO) algorithm is used to calculate the target storage location of the cable drum. The specific method is as follows:

[0099] S701. Calculate the stability of the cable reel on the truck bed. 稳定性 ;

[0100] The stability of the cable drum on the truck bed is determined by minimizing the possibility of the cable drum, which is calculated as follows:

[0101] f 稳定性 =w 稳定性 ·(h 重心 -h 最低点 )

[0102] Among them, h 重心 is the height of the cable drum's center of gravity, h 最低点 is the height of the lowest point of the vehicle plate, w 稳定性 is the stability weight.

[0103] S702, calculating the safety of the cable reel on the truck board to prevent the cable reel from colliding with the edge of the truck board or other objects. By calculating the stability and safety of the cable reel on the truck, the risk of rolling or collision of the cable reel during transportation is reduced;

[0104] Safety of cable reels on truck bed 安全性 The calculation is as follows:

[0105] f 安全性 =w 安全性 ·min(d 边缘 , d 其他物体 )

[0106] Among them, d 边缘 is the minimum distance between the cable drum and the edge of the vehicle panel, d 其他物体 is the minimum distance between the cable drum and other objects, w 安全性 is the safety weight.

[0107] S703. Calculate the convenience of cable loading and unloading 便利性 , ensure that the cable reel is placed in a position that is convenient for loading and unloading;

[0108]

[0109] Among them, D 装卸点 D is the distance from the cable drum to the loading and unloading point; 最优装卸点 is the distance from the cable drum to the optimal loading and unloading point; w 便利性 is the convenience weight.

[0110] S704, calculate the maximum space utilization rate f of the vehicle plate 空间利用率 ;

[0111]

[0112] Among them, A 已用空间 is the area of ​​the vehicle board occupied by the cable drum, A 总空间 is the total area of ​​the vehicle plate, w 空间利用率 is the space utilization weight.

[0113] S705, calculate the target storage position of the cable reel f 总 .

[0114] f 总 =w 稳定性 ·f 稳定性 +w 安全性 ·f 安全性 +w 便利性 ·f 便利性 +w 空间利用率 ·f 空间利用率

[0115] Among them, w 稳定性 、w 安全性 、w 便利性 、w 空间利用率 is the weight of each objective function, which is used to balance the importance of different optimization criteria.

[0116] S8, WCS warehouse control system controls the overhead crane to fork in and move the cable drum from the pickup position to the truck board storage target position to realize the cable drum storage control.

[0117] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as systems, methods or program products. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits", "modules" or "platforms".

[0118] In yet another embodiment of the present invention, a cable reel storage control system is provided, which can be used to implement the above-mentioned cable reel storage control method. Specifically, the cable reel storage control system includes a position module, an identification module, a calculation module, an analysis module and an execution module.

[0119] Among them, the location module binds the cable reel pickup location according to the quantity information of the cable reels in the document information;

[0120] The recognition module controls the crane to move to the empty truck, scans the empty truck through the sensor on the crane, and calculates the height, angle and coordinate matrix of the truck plate;

[0121] The calculation module controls the crane to move to the cable drum pickup position, the crane is lowered to the cable drum height, and the sensor on the crane uniformly scans the cable drum at the pickup position to obtain the cable drum depth data, and calculates the fork position and cable drum size information based on the cable drum depth data;

[0122] The analysis module calculates the target storage position of the cable drum according to the height, angle and coordinate matrix of the vehicle plate and the size information of the cable drum;

[0123] The execution module controls the crane to enter the fork based on the fork position, and moves the cable drum to the target storage position on the truck board to complete the cable drum storage control.

[0124] In another embodiment of the present invention, a terminal device is provided, which includes a processor and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions to implement the corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of the cable tray storage control method, including:

[0125] Bind the cable reel pickup position according to the quantity information of the cable reels in the document information; control the crane to move to the empty truck, scan the empty truck through the sensor on the crane and calculate the height, angle and coordinate matrix of the truck board; control the crane to move to the cable reel pickup position, descend to the height of the cable reel, and the sensor on the crane scans the cable reel at the pickup position at a uniform speed to obtain the cable reel depth data, and calculate the fork position and cable reel size information based on the cable reel depth data; calculate the target storage position of the cable reel according to the height, angle and coordinate matrix of the board and the cable reel size information; control the crane to fork based on the fork position, and move the cable reel to the target storage position on the truck board to complete the cable reel storage control.

[0126] In another embodiment of the present invention, the present invention also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a terminal device for storing programs and data. It is understandable that the computer-readable storage medium here can include both the built-in storage medium in the terminal device and the extended storage medium supported by the terminal device, and can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that more specific examples (non-exhaustive list) of the computer-readable storage medium here include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0127] Computer readable storage media also include data signals propagated in baseband or as part of a carrier wave, which carry readable program codes. Such propagated data signals can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium can also be any readable medium other than a readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the readable storage medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0128] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0129] The processor may load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the cable reel storage control method in the above embodiment; the processor may load and execute the following steps:

[0130] Bind the cable reel pickup position according to the quantity information of the cable reels in the document information; control the crane to move to the empty truck, scan the empty truck through the sensor on the crane and calculate the height, angle and coordinate matrix of the truck board; control the crane to move to the cable reel pickup position, descend to the height of the cable reel, and the sensor on the crane scans the cable reel at the pickup position at a uniform speed to obtain the cable reel depth data, and calculate the fork position and cable reel size information based on the cable reel depth data; calculate the target storage position of the cable reel according to the height, angle and coordinate matrix of the board and the cable reel size information; control the crane to fork based on the fork position, and move the cable reel to the target storage position on the truck board to complete the cable reel storage control.

[0131] See also Figure 2 , the terminal device is a computer device, and the computer device 60 of this embodiment includes: a processor 61, a memory 62, and a computer program 63 stored in the memory 62 and executable on the processor 61. When the computer program 63 is executed by the processor 61, the cable tray storage control method of the embodiment is implemented. To avoid repetition, it is not described one by one here. Alternatively, when the computer program 63 is executed by the processor 61, the functions of each model / unit in the cable tray storage control system of the embodiment are implemented. To avoid repetition, it is not described one by one here.

[0132] The computer device 60 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The computer device 60 may include, but is not limited to, a processor 61 and a memory 62. Those skilled in the art will appreciate that Figure 2 This is only an example of the computer device 60 and does not constitute a limitation of the computer device 60. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device may also include input and output devices, network access devices, buses, etc.

[0133] The processor 61 may be a central processing unit (CPU), other general-purpose processors, central processing units, graphics processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, data processing logic based on quantum computing, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0134] The memory 62 may be an internal storage unit of the computer device 60, such as a hard disk or memory of the computer device 60. The memory 62 may also be an external storage device of the computer device 60, such as a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (FlashCard), etc. equipped on the computer device 60.

[0135] Furthermore, the memory 62 may include both an internal storage unit of the computer device 60 and an external storage device. The memory 62 is used to store computer programs and other programs and data required by the computer device. The memory 62 may also be used to temporarily store data that has been output or is to be output.

[0136] Any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0137] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0138] See also Figure 3 The terminal device 600 is an electronic device, and the electronic device is in the form of a general computing device. The components of the electronic device may include but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0139] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 performs the steps according to various exemplary embodiments of the present invention described in the above method section of this specification. For example, the processing unit 610 can perform the following steps: Figure 1 Follow the steps shown in .

[0140] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0141] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0142] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0143] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0144] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can usually be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0145] Example

[0146] 1. Initial conditions

[0147] Number of cable trays: 3;

[0148] Cable drum pickup locations (assuming three different locations):

[0149] Position 1: (x1, y1, z1) = (10m, 5m, 0.5m);

[0150] Position 2: (x2, y2, z2) = (15m, 5m, 0.6m);

[0151] Position 3: (x3, y3, z3) = (20m, 5m, 0.55m).

[0152] 2. Empty truck scan results

[0153] Truck bed height: 1.2m;

[0154] Truck bed angle (set to horizontal, i.e. 0 degrees);

[0155] Truck plate coordinate matrix (with one corner of the truck as the origin):

[0156] Length: 6m;

[0157] Width: 2.5m;

[0158] Coordinate origin: (0m,0m,1.2m).

[0159] 3. Cable drum scanning and calculation

[0160] Cable drum depth data (assuming the depth of each cable drum is the same, for example only):

[0161] Cable drum depth: 0.3m;

[0162] Fork position (based on the cable drum depth, usually the center position):

[0163] Cable reel 1 fork position: (x1_center, y1_center, z1_lift) = (10m, 5m, 0.2m); Cable reel 2 fork position: (x2_center, y2_center, z2_lift) = (15m, 5m, 0.3m); Cable reel 3 fork position: (x3_center, y3_center, z3_lift) = (20m, 5m, 0.25m); Cable reel size information (assuming all cable reels have the same size):

[0164] Diameter: 1m;

[0165] Height: 0.3m.

[0166] 4. Calculation of target storage location

[0167] Cable drum 1 target storage location (considering truck size and cable drum size):

[0168] Storage location: (x_truck1, y_truck1, z_truck1) = (1m, 1.25m, 1.2m);

[0169] Cable drum 2 target storage location (considering the spacing):

[0170] Storage location: (x_truck2, y_truck2, z_truck2) = (2.75m, 1.25m, 1.2m);

[0171] Cable drum 3 target storage location (continue to consider the spacing):

[0172] Storage location: (x_truck3, y_truck3, z_truck3) = (4.5m, 1.25m, 1.2m).

[0173] 5. Storage control

[0174] The crane moves in and out:

[0175] The overhead crane moves in according to the calculated fork position and lifts the cable reel smoothly to a certain height.

[0176] The overhead crane moves to the target storage location on the truck bed and slowly descends to place the cable reel in the designated location.

[0177] 6. Complete storage

[0178] All cable drums are stored accurately on the truck bed according to the calculated positions.

[0179] This embodiment provides a complete process from cable drum scanning, position calculation to final storage, and assumes some specific values ​​to simulate the actual situation. In actual applications, these values ​​will be dynamically adjusted according to the actual situation.

[0180] In summary, the cable reel storage control method, system, medium and device of the present invention have the following characteristics:

[0181] Improve operational efficiency: Automated control reduces the time and error rate of manual operations, making the cable reel picking, scanning, calculation and storage processes faster and more accurate, thereby significantly improving the overall operational efficiency of the warehouse or production line.

[0182] Precise positioning and storage: Sensors obtain the height, angle and coordinate matrix of the truck bed, as well as the depth data and size information of the cable drum, and can accurately calculate the optimal storage position of the cable drum on the truck. This precise positioning ensures the stability of the cable drum during transportation and reduces the risk of damage caused by improper positioning.

[0183] Reduce manual intervention and errors: The entire process is highly automated, reducing the need for manual judgment and operation, thereby reducing the possibility of human error. At the same time, automated fork entry and storage operations also avoid safety accidents caused by improper human operation.

[0184] Optimize space utilization: The target storage location calculated based on the actual size information of the cable drum can make more reasonable use of the truck space and improve space utilization. This helps to reduce transportation costs and may increase the number of cable drums transported in a single trip.

[0185] Improve data management and analysis capabilities: The data collected throughout the process (such as cable drum size, truck information, storage location, etc.) can be recorded and used for subsequent data analysis and optimization. This helps companies better manage inventory, plan transportation routes and predict demand, further improving operational efficiency and reducing costs.

[0186] Enhanced flexibility and adaptability: The automation system can handle cable drums of different sizes, shapes and weights, as well as truck panels of different states (such as height and angle changes). This flexibility and adaptability enables the system to be used in a variety of scenarios, improving the company's operational efficiency and market competitiveness.

[0187] Improved working environment: Automated control reduces workers’ exposure time in dangerous or repetitive labor environments, improves working conditions, and increases workers’ job satisfaction and safety.

[0188] In summary, the present invention significantly improves operational efficiency, reduces human errors, optimizes space utilization, and enhances the flexibility and competitiveness of enterprises through automation, precision, and data-based approaches.

[0189] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0190] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0191] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0192] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0193] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0194] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0195] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0196] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0197] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0198] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0199] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A cable reel storage control method, characterized in that: The following steps are involved: Bind the cable reel pickup location according to the quantity information of the cable reels in the document information; Control the crane to move to the empty truck, scan the empty truck through the sensor on the crane and calculate the height, angle and coordinate matrix of the truck plate; Control the crane to move to the cable drum pickup position, and then lower the crane to the cable drum height. The sensor on the crane scans the cable drum at the pickup position at a constant speed to obtain the cable drum depth data. Based on the cable drum depth data, the fork position and cable drum size information are calculated. Calculate the target storage position of the cable drum according to the height, angle and coordinate matrix of the vehicle plate and the size information of the cable drum; The crane is controlled to enter the fork based on the fork position, and the cable reel is moved to the target storage position on the truck plate to complete the cable reel storage control.

2. The cable drum storage control method according to claim 1, characterized in that: The height, angle and coordinate matrix of the truck plate are calculated as follows: The sensor on the crane scans the empty truck and generates depth data, which includes the X, Y, and Z axis coordinates of the empty truck; The recognition system generates a real-time point cloud image of the truck panel based on the generated depth data; Construct a neural convolutional network model, use historical point cloud data to train the neural convolutional network model, input the obtained real-time point cloud image of the truck plate into the trained neural convolutional network model to obtain the position of the truck plate; The recognition system calculates the height, angle and coordinate matrix of the truck plate based on its position.

3. The cable reel storage control method according to claim 2, characterized in that: The recognition system generates a real-time point cloud of the truck panel based on the generated depth data: Each pixel value in the depth map represents the depth from the camera to the corresponding point in the scene. The depth value is converted into a point in 3D space. For each pixel in the depth map, the 2D image coordinates (u, v) are converted into 3D space coordinates (X, Y, Z) using the parameter focal length f and the principal point coordinates (u0, v0) in the camera.

4. The cable drum storage control method according to claim 3, characterized in that: 3D space coordinates (X, Y, Z): Among them, (f x ,f y ) is the focal length of the camera, and f x =f y , depth_map_value represents the original pixel value in the depth map, and scale_factor represents the scale factor between the depth value and the actual depth.

5. The cable reel storage control method according to claim 2, characterized in that: The height, angle and coordinate matrix of the vehicle plate are calculated as follows: The height H of the truck bed is calculated as follows: H=max(Z)-min(Z) Among them, max(Z) represents the maximum value of the Z coordinates of all points in the point cloud data; min(Z) represents the minimum value of the Z coordinates of all points in the point cloud data; The truck bed angle is calculated as follows Wherein, N represents the normal vector of the vehicle panel surface, G represents the gravity vector, and θ represents the angle between the normal vector of the vehicle panel surface and the gravity vector; Generate a coordinate matrix based on the height and angle of the truck bed.

6. The cable drum storage control method according to claim 1, characterized in that: The target storage position of the cable drum is calculated based on the height, angle and coordinate matrix of the vehicle plate and the size information of the cable drum: Calculate the stability f of the cable drum on the truck bed 稳定性 , Safety of cable reels on truck decks 稳定性 , Cable loading and unloading convenience 便利性 , maximize the space utilization of the vehicle panel 空间利用率 ; Based on the obtained stability f 稳定性 、Safety 稳定性 , Convenience 便利性 and space utilization f 空间利用率 Calculate the target storage position of the cable reel f 总 .

7. The cable reel storage control method according to claim 1, characterized in that: Cable drum target storage locationf 总 for: f 总 =w 稳定性 ·f 稳定性 +w 安全性 ·f 安全性 +w 便利性 ·f 便利性 +w 空间利用率 ·f 空间利用率 Among them, w 稳定性 、w 安全性 、w 便利性 、w 空间利用率 is the weight of each objective function.

8. A cable reel storage control system, characterized in that: include: The location module binds the cable reel pickup location according to the quantity information of the cable reels in the document information; The recognition module controls the crane to move to the empty truck, scans the empty truck through the sensor on the crane, and calculates the height, angle and coordinate matrix of the truck plate; The calculation module controls the crane to move to the cable drum pickup position, the crane is lowered to the cable drum height, and the sensor on the crane uniformly scans the cable drum at the pickup position to obtain the cable drum depth data, and calculates the fork position and cable drum size information based on the cable drum depth data; The analysis module calculates the target storage position of the cable drum according to the height, angle and coordinate matrix of the vehicle plate and the size information of the cable drum; The execution module controls the crane to enter the fork based on the fork position, and moves the cable drum to the target storage position on the truck board to complete the cable drum storage control.

9. A computer-readable storage medium storing one or more programs, characterized in that: The one or more programs include instructions, which, when executed by a computing device, cause the computing device to perform the method of any one of claims 1 to 7.

10. A computing device, characterized in that include: One or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include steps for executing the method according to any one of claims 1 to 7.

Images