A method and system for simulating an intelligent warehousing system

Abstract

The present invention discloses an intelligent warehousing system simulation method and system for controlling a loader to stack and load material packages. The method comprises the following steps: establishing a lane coordinate system, identifying the length of the side edge of a carriage to be loaded and its projection in the Y-axis direction of the lane coordinate system, and calculating the deviation angle between the carriage and the Y-axis direction of the lane coordinate system; obtaining the first stacking coordinates of each material package within the calibration area of the carriage within the lane coordinate system; adjusting the first stacking coordinates of each layer of material packages to be loaded according to the deviation angle to obtain the second stacking coordinates; and controlling the loader to deliver and stack the material packages to the carriage to be loaded according to the second stacking coordinates of each material package. This ensures that even if the vehicle is parked off-center, the driver can successfully complete stacking and loading without having to adjust the vehicle's posture, thereby reducing the driver's parking difficulty and improving loading efficiency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and in particular to an intelligent warehousing system simulation method and system. Background Art

[0002] Manufacturers of traditional factory-packaged products, such as cement, fertilizer, and flour, often rely on manual labor to load bagged goods onto trucks for shipment. In the cement industry, this is particularly the case, where workers currently wait in truck beds for cement to arrive from the production line's conveyor belt. As bags of cement fall from the conveyor belt into the truck bed, workers manually redirect their trajectory so they land at the desired location on the truck bed for loading. The primary challenge with this manual operation is the harmful effects of cement dust on the human body. Furthermore, with the development of society, fewer people are willing to work in harsh working environments like loading bagged cement, creating production challenges for manufacturers. To address these challenges, automation product providers are retrofitting existing cement production conveyor lines with automated loading machines. These machines connect to the conveyor belt to receive bags of cement, then move to a designated coordinate position and drop the bags into the truck bed, replacing manual palletizing. In these highly information-rich automated loading systems, loading control software provides the control logic to guide the loading machinery.

[0003] However, during the implementation of the current automated material loading system, due to the environmental differences of different lanes and the user's requirements for the appearance of the stack, the deployment process of the intelligent loading system often requires the configuration of many parameters such as lane model parameters and stack model parameters. The effect of parameter adjustment cannot be perceived immediately and requires actual vehicle verification, which is difficult to achieve in one step. At the same time, after each adjustment of the loading system parameters, it is necessary to arrange a real vehicle for loading verification and arrange a dedicated person to observe the loading execution process to determine whether the operating position of the loader and the stacking of the bagged material bags are in line with expectations. This verification method has the following problems: (1) It relies on the experience of the observer through naked eye observation and often has large errors; (2) When the parameters are filled in incorrectly, there is a risk of the loader colliding with the wall or the vehicle; (3) The communication cost during the adjustment implementation process is high and takes a long time. For example, when measuring the vehicle model, it is necessary to contact the driver to stop the car, and the loading execution requires coordinating the idle time of the lane and contacting the workers to pack cement. These matters involve multiple departments and the communication cost is high. Completely traversing the test case requires coordinating multiple types of vehicles, and the entire debugging process may take up to a week. In order to significantly reduce the system deployment cost, it is urgent to develop a vehicle installation simulation method to quickly verify the parameter adjustment effect through computer simulation technology. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the present invention provides an intelligent warehousing system simulation method for simulating the loading process of a loader delivering a material package into a vehicle compartment, comprising:

[0005] S1, obtaining the stacking information of each material package in the lane coordinate system and the coordinates of the loader's movement path when corresponding to the material package, the stacking information including but not limited to the coordinates of the material package in the lane coordinate system, the package sequence number, the layer number, the column number, and the row number;

[0006] S2, constructing a first canvas and a second canvas, arranging a top view of the vehicle on the first canvas and a side view of the vehicle on the second canvas according to the vehicle point cloud data, and obtaining first adjustment parameters and second adjustment parameters of the lane coordinate system and the first canvas coordinate system and the second canvas coordinate system;

[0007] S3, according to the stacking information of the material package and the first and second adjustment parameters, after converting the coordinates of the material package in the lane coordinate system into the first canvas coordinates and the second canvas coordinates, they are sent to the image display device in sequence according to the material package drop sequence to update the canvas data in the first canvas and the second canvas.

[0008] Preferably, step S3 includes:

[0009] S31, calculating the center coordinates of all material packages, and based on pre-configured material package specifications, converting the center coordinates of the material packages in the lane coordinate system into first canvas coordinates and second canvas coordinates;

[0010] S32 , drawing the material package area on the corresponding canvas in sequence according to the first canvas coordinate and the second canvas coordinate of the material package, and setting display parameters for the material package area that are different from those of adjacent layers.

[0011] Preferably, step S32 includes: obtaining the second layer number and second row number of the current material package, and the first layer number and first row number of the previous material package; if the second layer number is equal to the first layer number and the second row number is equal to the first row number, then no new material package area is added to the second canvas; if the second row number is not equal to the first row number or the second layer number is not equal to the first layer number, then a corresponding material package area is added to the second canvas according to the second canvas coordinates of the material package.

[0012] Preferably, the step S32 further comprises: the material package areas corresponding to the first canvas or the second canvas where the material packages with the same layer number are located have the same display parameter settings.

[0013] The present invention also discloses an intelligent warehousing system simulation system, which is used to simulate the loading process of a loader putting material packages into a vehicle compartment, including:

[0014] A stacking data acquisition module is used to obtain the stacking information of each material package in the lane coordinate system and the movement path coordinates of the loader when corresponding to the material package. The stacking information includes but is not limited to the coordinates of the material package in the lane coordinate system, the package drop sequence number, the layer number, the column number, and the row number;

[0015] a graphics construction module, configured to construct a first canvas and a second canvas, arrange a top view of the vehicle on the first canvas and a side view of the vehicle on the second canvas based on the vehicle point cloud data, and obtain first and second adjustment parameters of the lane coordinate system and the first and second canvas coordinate systems;

[0016] The material package simulation module is used to convert the coordinates of the material package in the lane coordinate system into the first canvas coordinates and the second canvas coordinates according to the stacking information of the material package and the first and second adjustment parameters, and then send them to the image display device in sequence according to the material package drop sequence number to update the canvas data in the first canvas and the second canvas.

[0017] Preferably, the material package simulation module includes:

[0018] A coordinate conversion module is used to calculate the center coordinates of all material packages and, based on the pre-configured material package specifications, convert the center coordinates of the material packages in the lane coordinate system into the first canvas coordinates and the second canvas coordinates;

[0019] The material package generation module is used to draw the material package area in sequence on the corresponding canvas according to the first canvas coordinate and the second canvas coordinate of the material package according to the package sequence number, and set the display parameters of the material package area different from those of the adjacent layers.

[0020] Preferably, the material package generation module is also configured to obtain the second layer number and second row number of the current material package, as well as the first layer number and first row number of the previous material package. If the second layer number is equal to the first layer number and the second row number is equal to the first row number, no new material package area is added to the second canvas; if the second row number is not equal to the first row number or the second layer number is not equal to the first layer number, a corresponding material package area is added to the second canvas according to the second canvas coordinates of the material package.

[0021] Preferably, the material package generation module is further configured to set the same display parameter for the material package areas corresponding to the first canvas or the second canvas where the material packages with the same layer number are located.

[0022] The present invention also discloses a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of any of the above-mentioned intelligent warehousing system simulation methods are implemented.

[0023] The intelligent warehousing system simulation method disclosed in this invention constructs a first canvas and a second canvas by obtaining the stacking information of each material bag within a lane coordinate system and the coordinates of the loader's movement path when corresponding to the material bag. Based on the vehicle point cloud data, a top view of the vehicle is arranged on the first canvas, and a side view of the vehicle is arranged on the second canvas. The first and second canvas coordinates of each material bag are then sequentially transmitted to a terminal based on the material bag's stacking information and the bag drop sequence, updating the canvas data within the first and second canvases. This method determines the software canvas based on the lane digital coordinate system and displays entities such as lanes, vehicles, loaders, and material bags on the canvas based on coordinates and specification parameters, ultimately visually displaying the relationships between various entities at a specified time point. Furthermore, the loading process can be played back in chronological order, and the order of loading execution can be visually displayed through dynamic simulation of the bags on the canvas, achieving an animated simulation of the loading process. This eliminates the need for complex coordination tasks such as scheduling vehicles and coordinating lane idle time, facilitating the rapid implementation of the loading system project.

[0024] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 A flow chart of a method for simulating an intelligent warehousing system according to an embodiment of the present invention is shown.

[0027] Figure 2 A schematic diagram of lane coordinates disclosed in an embodiment of the present invention.

[0028] Figure 3 A schematic diagram showing a top view according to an embodiment of the present invention is shown.

[0029] Figure 4 This is a schematic diagram showing a side view according to an embodiment of the present invention.

[0030] Figure 5 This is a schematic diagram of side view angle coordinates disclosed in one embodiment of the present invention.

[0031] Figure 6 This is a schematic diagram of side view angle coordinates disclosed in one embodiment of the present invention.

[0032] Figure 7 This is a schematic diagram of a specific flow of step S3 disclosed in one embodiment of the present invention.

[0033] Figure 8 This is a schematic diagram of a specific flow of step S32 disclosed in one embodiment of the present invention.

[0034] Figure 9 This is another flowchart of step S3 disclosed in one embodiment of the present invention.

[0035] Figure 10 This is a front-end display diagram of the intelligent warehousing system simulation method disclosed in one embodiment of the present invention.

[0036] Figure 11 This is a partial flow chart of a method for simulating an intelligent warehousing system according to another embodiment of the present invention.

[0037] Figure 12 This is a schematic diagram of stacking material packages in a calibration area according to an embodiment of the present invention.

[0038] Figure 13 This is a schematic diagram of a specific flow of step S5 disclosed in one embodiment of the present invention.

[0039] Figure 14 This is a schematic diagram of a specific flow of step S6 disclosed in one embodiment of the present invention.

[0040] Figure 15 This is a schematic diagram of a specific flow of step S8 disclosed in one embodiment of the present invention.

[0041] Figure 16 This is a schematic diagram of a specific flow of step S9 disclosed in one embodiment of the present invention.

[0042] Figure 17 This is a schematic diagram of the stacking of adaptively adjusted material packages in a carriage according to an embodiment of the present invention.

[0043] Figure 18 This is a schematic diagram of the structure of an intelligent warehousing system simulation system disclosed in one embodiment of the present invention.

[0044] Figure 19 This is a schematic diagram of the structure of a material package simulation module disclosed in one embodiment of the present invention. DETAILED DESCRIPTION

[0045] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of 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 described 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.

[0046] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0047] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0048] Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by persons of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the present patent application specification and claims do not denote any order, quantity, or importance, but are merely used to distinguish different components. Similarly, terms such as "a" or "an" do not denote a limitation of quantity, but rather denote the presence of at least one.

[0049] Attachment Figure 1 This embodiment discloses a simulation method for an intelligent warehousing system, which is used to simulate the loading process of a loader placing a material package into a vehicle compartment, and specifically includes:

[0050] Step S1: Obtain the stacking information of each material package in the lane coordinate system and the movement path coordinates of the loader when corresponding to the material package. The stacking information includes but is not limited to the coordinates of the material package in the lane coordinate system, the package sequence number, the layer number, the column number and the row number.

[0051] Based on data such as lane parameters, stack parameters, vehicle model data, material package specifications, and order data, the coordinates of each material package in the lane coordinate system and the movement coordinates of the loader when stacking the material packages are calculated. Among these data, the lane parameters, stack parameters, and material package specifications are pre-configured parameters and are the main objects for parameter adjustment. They can be retrieved from the database during simulation. The order data contains information such as the model and quantity of purchased materials. The amount of information is relatively small and can be filled in manually when starting the simulation. The vehicle model data is measured by the measurement system, but there are usually no vehicles during simulation, and it is not time-consuming and labor-intensive to dispatch vehicles for measurement. This embodiment obtains vehicle model data by pre-establishing a test vehicle database, wherein the vehicle model data includes parameters such as the length, width, height, and parking position of the vehicle. During simulation, according to test needs, the lane parameters, stack parameters, material package specifications, and vehicle model data are combined, and the order data is filled in as the input of the simulation. The output of the simulation is the coordinates of each material package in the lane coordinate system.

[0052] Step S2: construct a first canvas and a second canvas, arrange a top view of the vehicle on the first canvas and a side view of the vehicle on the second canvas according to the vehicle point cloud data, and obtain first adjustment parameters and second adjustment parameters of the lane coordinate system and the first canvas coordinate system and the second canvas coordinate system.

[0053] Specifically, the entities involved in the loading process include lanes, vehicles, material packages, and loading machines. The intelligent warehousing system simulation method uses graphics to dynamically display the relationship between these entities. When designing the lane coordinate system, in order to reduce coordinate conversion, the vehicle is usually ensured to be in the first quadrant when establishing the coordinate system. Using the person standing in front of the lane as a reference, a point on the left side of the lane entrance is selected as the origin. Figure 2 As shown, the direction from the origin to the rear of the vehicle is the Y direction, the direction from the origin to the right is the X direction, and the direction from the origin to the second floor is the Z direction. Vehicles, material bags, loaders and other entities are three-dimensional, and there are relationships in the X, Y, and Z directions, so using a two-dimensional coordinate system cannot fully express this relationship. In this embodiment, two two-dimensional coordinate systems are constructed from the perspectives of top view and side view to express the three-dimensional relationship between entities. At the same time, two canvases, namely the first canvas and the second canvas, are constructed to describe the patterns in the two-dimensional coordinate system respectively, where the first canvas can be a pattern of the two-dimensional coordinate system in the X and Y axis directions, namely the top view angle, and the second canvas can be a pattern of the two-dimensional coordinate system in the Y and Z axis directions, namely the side view angle. The top view angle refers to the observer looking down from the second floor and observing the relationship between the entities in the X and Y directions, such as Figure 3 As shown in , in this coordinate system, the relationship between material packages and the relationship between material packages and vehicles can be observed. The side view angle refers to the observer standing on the side of the main cab and observing the relationship between entities in the Y and Z directions. Figure 4As shown in the figure, in this coordinate system, we can observe the relationships between material bags, the relationship between material bags and vehicles, the relationship between vehicles and lanes, the relationship between loaders and vehicles, and the relationship between loaders and material bags. Side views allow us to observe more relationships between entities.

[0054] Draw the entities in the first canvas: The top view coordinate system mainly draws the two entities of vehicle and material bag, among which the focus of the vehicle is the carriage part. This embodiment uses HTML5 Canvas technology to draw animation. Canvas uses the point in the upper left corner of the screen as the origin. The direction from the origin to the right of the screen is the X direction, and the direction from the origin to the bottom of the screen is the Y direction. Figure 5 As shown, the Canvas coordinates differ significantly from the lane's X and Y coordinate systems. The canvas's X-axis corresponds to the lane's Y-axis, and vice versa. A coordinate conversion is required before drawing lane coordinates on the canvas.

[0055] To reserve space for drawing the front of the vehicle, a larger space is required on the canvas's X-axis. The conversion relationship between the canvas origin (x0, y0) and the lane origin (x1, y1) is set as (x0 = y1 + A, y0 = x1 + B), where (A, B) are the first adjustment parameters preset to reserve space for drawing the front of the vehicle. This mapping relationship allows any coordinate in the lane coordinate system to be converted to the first canvas coordinate system.

[0056] First, draw the carriage on the canvas: the carriage consists of three parts: the side, the C-shaped opening, and the center protrusion. The measurement system can measure the coordinates of the upper corner of the carriage near the origin, the carriage length, the carriage width, the length of the C-shaped opening, the coordinates of the starting point of the center protrusion, and the length and width of the center protrusion. Based on this data, we use the following rules to generate the carriage entity in the top-view coordinate system:

[0057] Draw a rectangle of the carriage with the coordinate of the upper corner of the carriage close to the origin as the starting point, the length of the carriage as the length, and the width of the carriage as the width;

[0058] Take the coordinate of the upper corner of the carriage close to the origin as the starting point and the length of the C-shaped opening as the long, and draw the thick line of the C-shaped edge on the carriage;

[0059] Take the coordinate of the lower corner of the carriage close to the origin as the starting point and the length of the C-shaped opening as the long, and draw the thick line of the C-shaped edge of the lower part of the carriage;

[0060] Draw a middle protrusion rectangle with the coordinates of the starting point of the middle protrusion as the starting point, the middle protrusion length as the length, and the middle protrusion width as the width.

[0061] Drawing entities in the second canvas: The side view coordinate system mainly draws the three entities of the vehicle, the material bag, and the loader. Among them, the vehicle focuses on the carriage part. This embodiment uses HTML5 Canvas technology to draw animations. Canvas uses the point in the upper left corner of the screen as the origin. The X direction is from the origin to the right of the screen, and the Y direction is from the origin to the bottom of the screen. Figure 6 As shown, the Canvas coordinates differ significantly from the lane's Y and Z coordinate systems. The canvas's X-axis corresponds to the lane's Y-axis, and the Y-axis corresponds to the lane's Z-axis, but in opposite directions. Before drawing the lane's (Y, Z) coordinates on the canvas, a coordinate conversion is required.

[0062] To reserve space for the vehicle's front, a larger area is required on the canvas's X-axis. The lane's Z origin corresponds to the maximum Y-axis value on the canvas. The conversion relationship between the canvas origin (x2, y2) and the lane origin (y1, z1) is set as (x2 = y1 + A, y2 = C - z1), where (A, C) are the second adjustment parameters preset to reserve space for drawing the vehicle's front. This mapping allows any coordinate in the lane coordinate system to be converted to the second canvas coordinate system.

[0063] First, generate the car body on the canvas: Since the central protrusion is obscured and its height does not exceed the front of the car, the car body consists of three parts: the side, the C-shaped opening, and the rear. The measurement system can measure the coordinates of the upper corner of the car body near the origin, the car body length, the car body height, the rear height, and the length of the C-shaped opening. We use the following method to draw the car body entity in the side view coordinate system:

[0064] Draw a carriage rectangle with the coordinate of the upper corner of the carriage close to the origin as the starting point, the length of the carriage as the length, and the height of the carriage as the width.

[0065] The x-coordinate of the C-shaped opening's starting point is the same as the x-coordinate of the carriage. The y-coordinate of the C-shaped opening's starting point is the carriage's y-coordinate minus the carriage's height. Draw a C-shaped raised rectangle on the carriage, with the length of the C-shaped opening as the length and the carriage's height as the width. Draw a thick line starting from the bottom corner of the rear of the carriage and with the length (rear height minus carriage bottom height).

[0066] Generate the loader on the second canvas: In this example, the loader's movement path coordinates have been calculated for each material bag. Based on the loader's specific dimensions, the loader has a trapezoidal shape on the side, convex toward the front of the vehicle. The top width, bottom width, and height are fixed, and the loader drops the bag at the bottom 1 / 3 of the long side. Starting from the upper corner near the origin, a trapezoidal shape is generated on the second canvas with the determined top width, bottom width, and height to represent the loader.

[0067] Step S3: After converting the coordinates of the material package in the lane coordinate system into the first canvas coordinates and the second canvas coordinates according to the stacking information of the material package and the first and second adjustment parameters, the coordinates are sent to the image display device in sequence according to the material package drop sequence number to update the canvas data in the first canvas and the second canvas.

[0068] When simulating the loading process of a loader dropping material bags into a vehicle compartment, two different canvases, the first canvas and the second canvas, are needed to respectively draw the top view and side view of the vehicle and the corresponding bag loading process. However, since the same object is being displayed, the coordinate systems in the two canvases need to be changed and displayed synchronously to achieve multi-angle expression of the same object. Specifically, the backend first pushes the data determined by the current environment, such as vehicle size information, material bag size information, and loader size information, to the front end through the websocket communication protocol. The detailed data of the material bag is then pushed package by package to the front end, such as the coordinates of the material bag in the lane coordinate system, the bag drop sequence number, the layer number, the column number, and the row number. Based on the loading data received, the front end processes and converts the same data according to the requirements of the two different coordinate systems.

[0069] In some specific embodiments, as shown in the attached Figure 7 As shown, step S3 includes:

[0070] Step S31 : Calculate the center coordinates of all material packages, and convert the center coordinates of the material packages in the lane coordinate system into first canvas coordinates and second canvas coordinates in combination with pre-configured material package specifications.

[0071] Get the center coordinates (x, y) of the material package, and according to the first adjustment parameters (A, B) preset for reserving and generating the headstock space, convert the center coordinates of the material package to the first canvas coordinates (y1+A, x1+B) through this mapping relationship. The coordinates of the upper left corner of the material package near the origin are ((y1+A-material package length / 2), (x1+B-material package / 2)). Using this point as the starting point, draw a rectangle on the first canvas with the width of the material package as the length and the length of the material package as the width. According to the second adjustment parameters (A, C) preset for reserving and generating the headstock space, convert the center coordinates of the material package to the second canvas coordinates (y1+A, C-z1) through this mapping relationship. The coordinates of the upper left corner of the material package near the origin are ((y1+A-material package length / 2), (C-z1-material package height / 2)). Using this point as the starting point, draw a rectangle on the second canvas with the width of the material package as the length and the height of the material package as the width.

[0072] In step S32, material package regions are drawn on the corresponding canvases according to the first and second canvas coordinates of the material packages, sequentially according to the package placement sequence. Different display parameters are set for the material package regions than for adjacent layers. Specifically, material packages with the same layer number can have the same display parameter settings set for the material package regions on the first or second canvas. By using different display parameter settings for adjacent layers, for example, material packages in odd-numbered layers are filled with green and material packages in even-numbered layers are filled with light blue, the number of layers of the material packages can be accurately distinguished when they are stacked layer by layer.

[0073] In some specific embodiments, as shown in the attached Figure 8 As shown, the step S32 further includes:

[0074] Step S321: Get the second layer number and second row number of the current material package, as well as the first layer number and first row number of the previous material package. If the second layer number is equal to the first layer number and the second row number is equal to the first row number, do not add a new material package area to the second canvas.

[0075] Step S322: If the second row number is not equal to the first row number or the second layer number is not equal to the first layer number, a corresponding material package area is newly added on the second canvas according to the second canvas coordinates of the material package.

[0076] The second canvas, the side view of the train compartment, primarily displays the relationship between the layers of the material packages and the overlapping relationship between the front and rear rows. The number of rows per layer requires secondary calculation. Specifically, due to the side view, the areas of material packages in the same layer and row overlap. When the first material package in that row falls, the area for that package is generated. Subsequent packages in the same row simply darken the color of the rectangular area. The formula for calculating the rectangular coordinates of the material package in the side view is as follows.

[0077] x2=x-package.width / 2;

[0078] y2=current_layer*package.height.

[0079] Draw a rectangle representing the material package with the width of the material package as the width and the height of the material package as the length: the x and y passed by the background are the center coordinates of the material package, where the length of the material package is package.length, the width is package.width, the height is package.height, and current_layer is the current layer number.

[0080] Through the above steps, the display data of two material packages in the first canvas coordinate system and the second canvas coordinate system will be obtained, and the two material package data will be synchronously rendered on the two canvases respectively, to achieve the effect of coordinated display of the two coordinate systems.

[0081] In this embodiment, during the dynamic simulation of the material bag delivery process of the loader, the backend continuously pushes the bagged material bag data to the front end through websocket. The data is stored in json format, and the format is as follows:

[0082]

[0083]

[0084] During the material package loading simulation, the front-end caches data and stores it in a two-dimensional array. This two-dimensional array includes a two-dimensional array of top-view material package information for the first canvas and a two-dimensional array of side-view material package information for the second canvas. In the first-level array of the top-view material package information, each layer occupies one array index, and in the second-level array, each bagged material package occupies one array index. In the first-level array of the side-view material package information, each layer occupies one array index, and in the second-level array, each row occupies one array index.

[0085] After receiving the highlighting instruction for a certain layer of the material package, the display area of each material package in the first canvas is regenerated, as shown in the attached figure. Figure 9 The specific steps are as follows:

[0086] In step S301, the display layer of the raw material package is first hidden.

[0087] Step S302 , obtaining the material package data of the layer from the two-dimensional array of the overhead material package information according to the layer number, and drawing the relationship between the material packages of the layer based on the data.

[0088] Step S303: retrieve all data from the bagged material package row array, set other irrelevant layer areas to transparent, and adjust the material package area at the specified layer to the preset display parameters.

[0089] As attached Figure 10 As shown, by first hiding the original layer, obtaining the bag material data of the layer from the two-dimensional array of bag material information viewed from above according to the layer number, and drawing the relationship between the material packages of the layer based on the data; and taking out all the data from the bag material package row number array, filling the middle of other layers with transparent, and filling the middle of the focused layer with light blue, thereby presenting the effect of highlighting the specified layer.

[0090] The above-described intelligent warehousing system simulation method simulates the loading process of a truck loader dropping material bags into a vehicle compartment. This method, without requiring hardware control, efficiently determines the appropriateness of stacking and lane parameters through pure software simulation, quickly determining these parameters based on customer needs and site conditions. This method also supports a simulated mode for driving the truck loader. In this mode, the loader's PLC program can be programmed to run dry, allowing the loader to move even when the feed belt is empty. The operating logic is identical to normal operation. The loading system calculates the coordinates of the bagged material bags and sends them to the truck loader, which then drives the loader to move according to the coordinates even when no bags are present. Each time the system sends the coordinates of a bagged material bag, it modifies the loader's coordinates and then monitors the loader's stacking progress in real time. If the bag is stacked, the bag is drawn, achieving a synchronized display of the loader's mechanical operation and animation. Users can simultaneously observe the loader's movement and loading animation, as well as the parameters on the PLC monitoring interface, through a terminal to determine whether the loader's PLC program is operating normally. This intelligent warehousing system simulation method uses animation simulation to quickly present the entire loading process and the relationship between various entities in the lane during the loading process on the software. This eliminates the need for highly complex coordination tasks such as scheduling vehicles and coordinating lane idle time, allowing the project to be quickly implemented.

[0091] Attachment Figure 11 This is another embodiment of the intelligent warehousing system simulation method disclosed in this embodiment, which is used to simulate the loading process of a loader dropping material bags into a vehicle compartment, especially the material bag dropping control and simulation when the vehicle is parked at an angle in the lane. It specifically includes:

[0092] Step S4: Identify the length of the side edge of the carriage to be loaded and its projection in the Y-axis direction of the lane coordinate system, and calculate the deviation angle between the carriage and the Y-axis direction of the lane coordinate system.

[0093] The laser measurement system measures the angle between the straight line from the front to the rear of the vehicle and the Y-axis of the lane coordinate system, which is a prerequisite for adaptive palletizing calculations. The laser measurement system identifies the edge of the vehicle by the difference in reflection distance between the edge of the vehicle and the bottom and ground. The angle a between the side edge of the vehicle and the Y-axis of the lane coordinate system is used as the parking deviation angle. By drawing a line parallel to the X-axis of the lane coordinate system from any point on the edge of the vehicle, a triangle is formed with a hypotenuse length of L and a vertical side along the Y-axis of P. Both L and P can be measured. The deviation angle a = arccos(P / L) can be calculated using the inverse cosine function.

[0094] Step S5, obtaining the first stacking coordinates of each material package in the calibration area of the carriage in the lane coordinate system, wherein the calibration area and the projection area of the carriage on the lane coordinate system have an overlapping endpoint, the calibration area length is the projection length of the side of the carriage on the Y-axis of the lane coordinate system, and the calibration area width is the projection width of the front or rear end of the carriage on the X-axis of the lane coordinate system.

[0095] As attached Figure 12 As shown, the calibration points and the calibration area for each layer are obtained. The calibration area is the effective loading range of the loader. Since the palletizer loader drops packages according to the lane coordinate system and cannot drop packages at a specific angle, the maximum effective loading range is the projection of the width of carriage 1 on the X-axis, and the maximum effective loading length is the projection of the length of carriage 1 on the Y-axis, i.e., the width and length of the calibration area. By calculating the effective loading area of the calibration area, the existing palletizing algorithm is used to calculate the stacking coordinates of each package 2 within the calibration area.

[0096] As attached Figure 13 As shown, step S5 may specifically include:

[0097] Step S51, obtaining the first endpoint coordinate of the upper right corner of the carriage to be loaded in the lane coordinate system.

[0098] In step S52, the first endpoint coordinate is used as the coincident endpoint to obtain a correction area, wherein each side of the correction area is parallel to the X or Y axis of the lane coordinate system, the length of the correction area is the projection length of the side of the vehicle body on the Y axis of the lane coordinate system, and the width is the projection width of the front or rear end of the vehicle body on the X axis of the lane coordinate system.

[0099] Step S53 calculates the X-axis coordinate of each material package in the lane coordinate system when stacked in the calibration area based on the effective loading width, material package length, and the X-axis stacking limit. Furthermore, the Y-axis coordinate of each material package in the lane coordinate system when stacked in the calibration area is calculated based on the effective loading length, material package width, and the Y-axis stacking limit. Specifically, the upper right corner of the coincident endpoint measured by the laser measurement system is used as the calibration point. The X coordinate of each package is calculated based on parameters such as the effective loading width, material package length, and the X-axis stacking limit. The Y coordinate of each package is calculated based on factors such as the effective loading length, material package width, and the Y-axis stacking limit.

[0100] Step S6: adjusting the first stacking coordinates of each layer of material packages to be loaded according to the deviation angle to obtain second stacking coordinates.

[0101] Specifically, the number of rows and columns of material packages required to be stacked in each layer of the correction area, as well as the row number and column number of each material package in its layer are obtained, where the row number and column number increase leftward and downward with the coincident endpoint as the origin.

[0102] In a specific embodiment, step S6 specifically includes: adjusting the first stacking coordinates of each layer of material packages to be loaded according to the deviation angle to obtain second stacking coordinates, wherein:

[0103] A1=A+(L*sina)*(R1 / Rt);

[0104] B1=B-(M*sina)*(C1 / Ct), where A is the X-axis coordinate of the material package in the first stacking coordinate system, A1 is the X-axis coordinate of the material package in the second stacking coordinate system, B is the Y-axis coordinate of the material package in the first stacking coordinate system, B1 is the Y-axis coordinate of the material package in the second stacking coordinate system, a is the deviation angle between the Y-axis direction of the car and the lane coordinate system, L is the car length given by the measurement system, M is the car width given by the measurement system, R1 is the row number of the material package in the layer, Rt is the total number of rows of the material package in the layer, C1 is the column number of the material package in the layer, and Ct is the total number of columns of the material package in the layer.

[0105] As attached Figure 14 As shown, step S6 may specifically include:

[0106] Step S61: adjusting the X-coordinate deviation value of each row of material packages based on the deviation angle.

[0107] The measurement system provides the carriage length L and the deviation angle a, as shown in the figure below. The maximum difference between the lowest point on the carriage bottom and the Y-axis is Q, where Q = L*sin a. Within each row of material packages stacked on the same level, the x-axis deviation increases row by row, with the deviation value for each row being Q*(R1 / Rt). Therefore, A1 = A + (L*sin a)*(R1 / Rt).

[0108] Step S62: Adjust the Y coordinate deviation of each column of material packages based on the deviation angle. Specifically, the maximum difference between the leftmost point of the carriage and the Y axis is N, where N = M*sin a. As can be seen from the figure, the Y deviation increases row by row, with the deviation value for each column being N*(C1 / Ct). Since a positive angle shifts the Y axis in the negative direction, the deviation value for each column is negated and added to the original Y value.

[0109] B1=B-(M*sin a)*(C1 / Ct).

[0110] Step S7: Control the loader to deliver and stack the material packages to the carriage to be loaded according to the second stacking coordinates of each material package.

[0111] In some specific embodiments, the intelligent warehousing system simulation method further includes the following steps:

[0112] Step S8, the X and Y coordinate values of the second stacking coordinates of each material bag are compared with their corresponding loading limit values. If the corresponding loading limit value is exceeded, the limit value coordinate is replaced with the corresponding coordinate value. Specifically, in order to avoid the adjusted second stacking coordinate value exceeding the loading range, thereby causing the material bag to slip out of the vehicle, the loading limit value is used to limit the coordinate. In some specific embodiments, only the X coordinates of the first and last rows of each layer, and the Y coordinates of the first and last columns of each layer can be limited. As shown in the attached figure Figure 15 As shown, step S5 specifically includes:

[0113] Step S81, obtaining the Y coordinates of the second stacking coordinates of the material packages located in the first and last rows stacked in one layer, and the X coordinates of the second stacking coordinates of the material packages located in the first and last rows;

[0114] Step S82: retrieve the front limit value and the tail limit value in the Y-axis direction, and the left limit value and the right limit value in the X-axis direction corresponding to the layer from the database according to the sequence number of the layer;

[0115] In step S83, the Y coordinate of the second stacking coordinate of the material package in the first row of the layer is compared with the front limit value, the Y coordinate of the second stacking coordinate of the material package in the last row is compared with the tail limit value, the X coordinate of the second stacking coordinate of the material package in the leftmost column is compared with the left limit value, and the X coordinate of the second stacking coordinate of the material package in the rightmost column is compared with the right limit value, and the smaller value of each comparison is used to replace the coordinate value of the material package. The first row is oriented toward the origin, the last row is oriented away from the origin, the left column is oriented away from the origin, and the right column is oriented toward the origin.

[0116] That is, the corresponding second stacking coordinate values of the edge material packages are adjusted as follows:

[0117] Leftmost column A2=Min(left,A1);

[0118] Rightmost column A2 = Min(right,A1);

[0119] Top row B2 = Min(topy,B1);

[0120] The bottom line B2 = Min(bottomy, B1), where left is the left limit value, right is the right limit value, topy is the front limit value, and bottomy is the tail limit value.

[0121] In some other specific embodiments, step S8 further includes:

[0122] Step S84: The height of the carriage to be loaded is obtained from the point cloud data of the carriage to be loaded acquired by the detection system. Based on the height of the carriage to be loaded, the second stacking coordinates of each layer of material packages are divided into a first material package group coordinate set and a second material package group coordinate set. The number of layers of material packages that can be stacked within the carriage can be determined based on the height of the carriage to be loaded, based on the preset stacking coefficient of the material packages. The first material package group refers to the material packages stacked within the carriage to be loaded, while the second material package group refers to the material packages stacked on the carriage to be loaded.

[0123] Step S85: Obtain the front stacking difference between the Y coordinate in the second stacking coordinate of the first row of material packages on the bottom layer in the second material package group and the Y coordinate in the second stacking coordinate of the first row of material packages on the top layer in the second material package group; the tail stacking difference between the Y coordinate in the second stacking coordinate of the last row of material packages on the bottom layer in the second material package group and the Y coordinate in the second stacking coordinate of the last row of material packages on the top layer in the second material package group; the left-column stacking difference between the X coordinate in the second stacking coordinate of the left column of material packages on the bottom layer in the second material package group and the X coordinate in the second stacking coordinate of the left column of material packages on the top layer in the second material package group; and the right-column stacking difference between the X coordinate in the second stacking coordinate of the right column of material packages on the bottom layer in the second material package group and the X coordinate in the second stacking coordinate of the right column of material packages on the top layer in the second material package group;

[0124] In step S86, when the front stacking difference or the tail stacking difference exceeds the longitudinal limit value, or the left column stacking difference or the right column stacking difference exceeds the lateral limit value, the coordinates of the material packages exceeding the corresponding limit values are adjusted. The longitudinal limit value and the lateral limit value are preset maximum values by which the upper material package can extend laterally or vertically beyond the lower material package. The longitudinal limit value or the lateral limit value can also be negative, indicating that the upper material package must be retracted laterally or vertically within the edge of the lower material package. This prevents the upper material package from slipping.

[0125] By reviewing the difference between the second stacking coordinates of the material packages located on the four side edges of the second material package group and the longitudinal limit value and the transverse limit value, the material packages that may slip can be discovered in advance, and their second stacking coordinates can be adjusted to prevent the problem of upper material packages slipping.

[0126] In other specific embodiments, the intelligent warehousing system simulation method for simulating the loading process of a loader putting material bags into a vehicle compartment further includes step S9: confirming the placement status of the outer material bags on the bottom layer in the second material bag group according to the deviation angle. Figure 16 As shown, step S9 specifically includes:

[0127] Step S91, obtain the placement posture of the bottom material package in the second material package group. When the material package of this layer is placed vertically, determine whether the deviation angle is greater than the first threshold. If it is, cancel the placement of the leftmost column material package and the rightmost column material package; if the deviation angle is greater than the second threshold, cancel the placement of the first row material package and the last row material package.

[0128] Step S92: When the material packages of this layer are placed horizontally, determine whether the deviation angle is greater than the first threshold. If so, cancel the placement of the first row of material packages and the last row of material packages; if the deviation angle is greater than the second threshold, cancel the placement of the leftmost column of material packages and the rightmost column of material packages.

[0129] The first and second thresholds are preset values, designed to address the issue of material bags being stable and prevented from sliding when stacked above the loading compartment. To maximize the number of bags stacked, some of the outermost bags stacked above the loading compartment will extend beyond the compartment, leaving them suspended in the air. If the bag's deviation angle exceeds these preset values, the bag may become unstable and slide. The first threshold is the maximum deviation that allows bags to remain stable when stacked horizontally beyond the compartment, while the second threshold is the maximum deviation that allows bags to remain stable when stacked vertically beyond the compartment.

[0130] After the adaptive calculation of the coordinate deviation, the final stacking position of the cement bag is adjusted as shown in the attached figure. Figure 7 As shown in the figure, due to mechanical limitations, each package still falls according to the ideal state, but the Y coordinates of the packages in the same row are completely different, and the X coordinates of the packages in the same column are also completely different.

[0131] In other specific embodiments, the adaptive simulation control method further includes: calculating the effective loading area S based on the deviation angle, where S = L*cosa*M*cosa, and judging whether the loading loss rate is greater than a preset threshold value based on the effective loading area. If so, subsequent loading is stopped, otherwise the loader is controlled to deliver and stack the material packages to the carriage to be loaded according to the second stacking coordinates of each material package. Based on the above algorithm, when parking at an angle, there is a certain loss in the effective loading area. The maximum loading area loss can be used as a configurable item. For example, we believe that a loss of less than 5% is acceptable. Based on this, the maximum acceptable angle deviation can be calculated, then x*y*0.95>=x*cos a*y*cos a, that is, 0.9>=cos a*cos a; the maximum parking deviation angle is calculated to be approximately 18 degrees. When the parking deviation exceeds 18 degrees, the system will alarm and prompt the driver to park again.

[0132] The intelligent warehousing system simulation method disclosed in this embodiment is used to simulate the loading process of a loader dropping material packages into a vehicle compartment. Based on the simulation results, the loader adjusts the stacking and loading of the material packages. The method calculates the deviation angle between the compartment and the lane coordinate system to obtain the first stacking coordinates of each material package within the calibration area of the lane coordinate system. The first stacking coordinates of each layer of material packages to be loaded are then adjusted based on the deviation angle to obtain the second stacking coordinates used by the loader for stacking and loading. This method allows the driver to successfully complete stacking and loading without adjusting the vehicle's position even if the vehicle is parked at an angle, thereby reducing parking difficulty and improving loading efficiency. Compared to existing control methods that reserve a margin to adapt to vehicle parking angles, this control method has the following advantages: Higher compartment area utilization. In the fixed-reservation compartment margin method, the vehicle loses a fixed amount of loading area regardless of the parking angle. In the adaptive parking angle method, the loading area loss is related to the deviation angle, resulting in higher utilization. Tolerating larger parking deviations: The existing margin solution uses a method of fixing the reserved compartment margin, which usually tolerates a parking deviation angle of about 3-5 degrees; while the adaptive control method disclosed in this embodiment can tolerate a parking deviation of 15-18 degrees, which is 3-5 times higher, basically ensuring that the driver can load the vehicle in one stop, greatly saving loading time and improving user experience. Stronger adaptability: The existing margin solution uses a method of fixing the reserved compartment margin without considering the length of the vehicle. The margin value set in the early days, when encountering an overlong vehicle, as the vehicle body becomes longer, although the angle remains unchanged, the vehicle deviation becomes larger and larger, and the margin value cannot guarantee that the material package can always fall into the compartment. The adaptive control method disclosed in this embodiment is based on the angle adjusting row by row as the vehicle length increases, which can ensure that the material can always fall into the compartment.

[0133] Attachment Figure 17 This is a schematic diagram of the structure of an intelligent warehousing system simulation system disclosed in the present invention, used to simulate the loading process of a loader dropping material packages into a vehicle compartment. The system comprises: a stacking data acquisition module 3, configured to acquire the stacking information of each material package within the lane coordinate system and the coordinates of the loader's movement path when corresponding to the material package. The stacking information includes, but is not limited to, the coordinates of the material package within the lane coordinate system, the package drop sequence number, the layer number, the column number, and the row number. A graphic construction module 4, configured to construct first and second canvases, arrange a top view of the vehicle on the first canvas and a side view of the vehicle on the second canvas based on the vehicle point cloud data, and acquire first and second adjustment parameters for the lane coordinate system and the first and second canvas coordinate systems. A material package simulation module 5, configured to convert the coordinates of the material package within the lane coordinate system into first and second canvas coordinates based on the material package's stacking information and the first and second adjustment parameters, and then transmit the coordinates to an image display device in sequence according to the package drop sequence number to update the canvas data within the first and second canvases.

[0134] Specifically, the material package simulation module 5 may include: a coordinate conversion module 51 for calculating the center coordinates of all material packages and, based on pre-configured material package specifications, converting the center coordinates of the material packages within the lane coordinate system into first and second canvas coordinates. A material package generation module 52 for sequentially drawing the material package regions on the corresponding canvas according to the package drop sequence based on the first and second canvas coordinates of the material packages, and setting display parameters for the material package regions differently from those of adjacent layers.

[0135] The material package generation module 52 is further configured to obtain the second layer number and second row number of the current material package, as well as the first layer number and first row number of the previous material package. If the second layer number is equal to the first layer number and the second row number is equal to the first row number, no new material package area is added to the second canvas. If the second row number is not equal to the first row number or the second layer number is not equal to the first layer number, a new material package area corresponding to the material package is added to the second canvas based on the second canvas coordinates of the material package. The material package generation module 52 is further configured to set the same display parameter settings for the material package areas corresponding to the first canvas or the second canvas where the material packages with the same layer number are located.

[0136] The intelligent warehousing system simulation system simulates the loading process of a truck loader dropping material bags into a vehicle compartment. This system eliminates the need for hardware control and effectively determines the appropriateness of stacking and lane parameters through pure software simulation. These parameters can be quickly tailored to customer needs and site conditions. This method also supports a simulated mode for driving the truck loader. In this mode, the loader's PLC program can be programmed to run dry, allowing the loader to move even when the feed belt is empty. The operating logic is identical to normal operation. The loading system calculates the coordinates of the bagged material bags and sends them to the truck loader, which then drives the loader to move according to the coordinates even when no bags are present. Each time the system sends the coordinates of a bagged material bag, it modifies the loader's coordinates and monitors the loader's stacking progress in real time. If the bag is stacked, the bag is drawn, achieving a synchronized display of the loader's mechanical operation and animation. Users can simultaneously observe the loader's movement and loading animation, as well as the parameters on the PLC monitoring interface, through a terminal to determine whether the loader's PLC program is operating normally. This intelligent warehousing system simulation method uses animation simulation to quickly present the entire loading process and the relationship between various entities in the lane during the loading process on the software. This eliminates the need for highly complex coordination tasks such as scheduling vehicles and coordinating lane idle time, allowing the project to be quickly implemented.

[0137] Since the functions and specific composition of each module of the above-mentioned intelligent warehousing system simulation system correspond one-to-one with the description in the embodiment of the aforementioned intelligent warehousing system simulation method, the specific description will not be expanded here. Its specific functions and effects can be referred to the aforementioned adaptive control method embodiment.

[0138] The present invention also discloses another embodiment of an intelligent warehousing system simulation system. The adaptive control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, such as loading control software. When the processor executes the computer program, the steps of the aforementioned intelligent warehousing system simulation method embodiments are implemented.

[0139] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the server.

[0140] The server may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the schematic diagram is merely an example of a server and does not limit the server device. The server device may include more or fewer components than shown, or a combination of certain components, or different components. For example, the server device may also include input and output devices, network access devices, buses, etc.

[0141] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of the server device and connects various parts of the entire server device using various interfaces and lines.

[0142] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the server device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0143] If the intelligent warehousing system simulation method 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 process in the above-mentioned embodiment method, and can also be completed by a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. 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 does not include electric carrier signals and telecommunication signals.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0145] In short, the above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the patent of the present invention.

Claims

1. A method for simulating an intelligent warehousing system, used for simulating the loading process of a loader putting a material package into a vehicle compartment, characterized in that: include: S1, obtaining the stacking information of each material package in the lane coordinate system and the movement path coordinates of the loader when corresponding to the material package, the stacking information includes the coordinates of the material package in the lane coordinate system, the package sequence number, the layer number, the column number and the row number; S2, constructing a first canvas and a second canvas, arranging a top view of the vehicle on the first canvas and a side view of the vehicle on the second canvas according to the vehicle point cloud data, and obtaining first adjustment parameters and second adjustment parameters of the lane coordinate system and the first canvas coordinate system and the second canvas coordinate system; S3, based on the stacking information of the material package and the first and second adjustment parameters, converting the coordinates of the material package in the lane coordinate system into the first canvas coordinates and the second canvas coordinates, and sending them to the image display device in sequence according to the package drop sequence number to update the canvas data in the first canvas and the second canvas; specifically including: S31, calculating the center coordinates of all material packages, and based on pre-configured material package specifications, converting the center coordinates of the material packages in the lane coordinate system into first canvas coordinates and second canvas coordinates; S32 , drawing the material package area on the corresponding canvas in sequence according to the first canvas coordinate and the second canvas coordinate of the material package, and setting display parameters for the material package area that are different from those of adjacent layers.

2. The intelligent warehousing system simulation method according to claim 1, characterized in that: The step S32 includes: Get the second layer number and second row number of this material package, as well as the first layer number and first row number of the previous material package. If the second layer number is equal to the first layer number and the second row number is equal to the first row number, do not add a new material package area to the second canvas. If the second row number is not equal to the first row number or the second layer number is not equal to the first layer number, a corresponding material package area is newly added on the second canvas according to the second canvas coordinates of the material package.

3. The intelligent warehousing system simulation method according to claim 2, characterized in that: The step S32 further includes: The material package areas corresponding to the first canvas or the second canvas where the material packages with the same layer number are located have the same display parameter settings.

4. An intelligent warehousing system simulation system is used to simulate the loading process of a loader putting material packages into a vehicle compartment, characterized in that: include: The stacking data acquisition module is used to obtain the stacking information of each material package in the lane coordinate system and the movement path coordinates of the loader when corresponding to the material package. The stacking information includes the coordinates of the material package in the lane coordinate system, the package sequence number, the layer number, the column number and the row number; a graphics construction module, configured to construct a first canvas and a second canvas, arrange a top view of the vehicle on the first canvas and a side view of the vehicle on the second canvas based on the vehicle point cloud data, and obtain first and second adjustment parameters of the lane coordinate system and the first and second canvas coordinate systems; a material package simulation module, configured to convert the coordinates of the material package in the lane coordinate system into the first canvas coordinates and the second canvas coordinates according to the stacking information of the material package and the first and second adjustment parameters, and then send the coordinates to the image display device in sequence according to the material package drop sequence number to update the canvas data in the first canvas and the second canvas; The material package simulation module includes: A coordinate conversion module is used to calculate the center coordinates of all material packages and, based on the pre-configured material package specifications, convert the center coordinates of the material packages in the lane coordinate system into the first canvas coordinates and the second canvas coordinates; The material package generation module is used to draw the material package area in sequence on the corresponding canvas according to the first canvas coordinate and the second canvas coordinate of the material package according to the package sequence number, and set the display parameters of the material package area different from those of the adjacent layers.

5. The intelligent warehousing system simulation system according to claim 4, characterized in that: The material package generation module is further configured to obtain the second layer number and the second row number of the current material package, as well as the first layer number and the first row number of the previous material package, and if the second layer number is equal to the first layer number and the second row number is equal to the first row number, then no new material package area is added to the second canvas; If the second row number is not equal to the first row number or the second layer number is not equal to the first layer number, a corresponding material package area is newly added on the second canvas according to the second canvas coordinates of the material package.

6. The intelligent warehousing system simulation system according to claim 5, characterized in that: The material package generation module is further configured to set the same display parameter for the material package areas corresponding to the first canvas or the second canvas where the material packages with the same layer number are located.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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