New energy material industry digitized warehousing and tracing system

Abstract

The application provides a new energy material industry digitized warehousing and tracing system, which does not need employees to enter and exit the warehouse space for operation in the warehouse-in and warehouse-out process, can place materials in the warehouse space in a fully automatic manner with high space utilization and stable placement, can automatically generate the distribution positions of the materials in the warehouse space, and can greatly improve the production efficiency, safety and traceability of the warehouse space.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of new energy, more particularly to a digital warehousing and tracing system for new energy material industry. BACKGROUND

[0002] In the new energy material industry, since most of the materials are flammable and explosive, the safety design requirements of the warehousing system are extremely high, and all equipment needs to meet the intrinsic safety level explosion-proof standard, so it often requires high construction and operation cost. In the prior art, the storage and retrieval of new energy materials is mostly realized by manual participation, which often cannot guarantee the rationality and stability of material placement, resulting in unnecessary loss of warehouse space utilization. At the same time, the instability of material stacking state and the frequent entry and exit of people in the warehouse space also bring great safety hazards. In addition, in such a warehousing system, additional work is required to know the placement position of each material in the warehouse space in order to correctly retrieve the material. SUMMARY

[0003] In view of the above problems existing in the prior art, the present application provides a digital warehousing and tracing system for new energy material industry, which does not require employees to enter and exit the warehouse space for operation during storage and retrieval, and can place materials in the warehouse space in a fully automated manner with high space utilization and stability. At the same time, it can automatically generate the distribution position of each material in the warehouse space, greatly improving the production efficiency and traceability of the warehouse space.

[0004] The digital warehousing and tracing system for new energy material industry of the present application can include a three-dimensional warehouse space, an automatic taking and placing device, an explosion-proof data acquisition device and a central control device.

[0005] The three-dimensional warehouse space has one or more storage areas, and each storage area is provided with one or more pallets for storing packaging boxes of new energy materials, wherein the multiple pallets in the same storage area are stacked at a preset distance in the height direction.

[0006] The explosion-proof data acquisition device is used to acquire information of the packaging boxes and new energy materials, and send it to the central control device.

[0007] The central control device is used to generate automatic storage information according to the packaging box information.

[0008] The automatic taking and placing device is used to automatically move the packaging boxes from the storage area to the pallet according to the automatic storage information.

[0009] Further, the explosion-proof data acquisition device includes a data acquisition unit and a circuit board unit.

[0010] The data acquisition unit is configured to acquire size information, weight information, box strength, position information of the packaging box in the storage area, and new energy material information, and send them to the circuit board unit;

[0011] The circuit board unit is encapsulated in an explosion-proof box, and is configured to number the packaging box and send the packaging box information, its number and the new energy material information to the central control device.

[0012] Further, the central control device stores the number, spatial coordinate information and maximum containing volume V PE of the pallet, and is configured to generate automatic storage information for N packaging boxes in the storage area by performing the following steps:

[0013] Step one, calculate the number M of pallets required by N packaging boxes, and select the numbers of M pallets;

[0014] Step two, generate first and second original chromosomes for N packaging boxes, and construct an original population;

[0015] Among them, the chromosome includes three groups of gene sequences, each group of gene sequences has N genes, the relative position of the gene in the gene sequence represents the storage order, the gene of the first group of gene sequences represents the number of the packaging box, the gene in the second group of gene sequences represents the placement orientation information of the packaging box, and the gene in the third group of gene sequences represents the pallet number of the packaging box;

[0016] According to the height sorting of N packaging boxes, the genes in the first gene sequence and their relative positions are determined, the genes in the second gene sequence are randomly selected or selected according to a preset rule from seven values, and the genes in the third gene sequence are randomly selected or selected according to a preset rule from M pallet numbers, thereby generating a first original chromosome, wherein the seven values respectively represent front, rear, left, right, up, down and temporary;

[0017] By randomly exchanging the relative positions of the genes in the first gene sequence, randomly changing the values of the genes in the second gene sequence, and randomly changing the values of the genes in the third gene sequence based on the first original chromosome, a second original chromosome is generated;

[0018] Step three, calculate the overall space utilization rate corresponding to the chromosomes in the current latest population, wherein the overall space utilization rate corresponding to the chromosomes is the geometric mean of the space utilization rates of M pallets, and the space utilization rate of the pallet is the ratio of the total volume of the packaging box carried by the pallet to the maximum containing volume V PE of the pallet;

[0019] Step four, use the chromosomes of the current latest population to generate a new generation of population by crossing and mutation; wherein:

[0020] N C times of crossover to generate N C new chromosomes, and calculate the overall space utilization corresponding to the new chromosomes, wherein the genes of the new chromosomes are randomly selected from one of two genes at the same position on two chromosomes in the current latest population;

[0021] N M times of mutation to generate N M new chromosomes, and calculate the overall space utilization corresponding to the new chromosomes, wherein the new chromosomes are generated by randomly exchanging the relative positions of the genes in the first gene sequence, randomly changing the values of the genes in the second gene sequence, and randomly changing the values of the genes in the third gene sequence of the chromosomes in the current latest population;

[0022] Step five, repeat step four to perform iterations, and when the number of iterations reaches a preset threshold, or when the number of iterations does not reach the preset threshold but the newly generated population of the next generation does not improve the overall space utilization for a continuous preset number of iterations, or when the number of iterations does not reach the preset threshold but the chromosomes of the newly generated population of the next generation have a preset optimal overall space utilization, stop the iteration and perform step six;

[0023] Step six, according to the chromosome with the highest overall space utilization in the current latest population, generate the storage order, placement orientation information and pallet number for N packaging boxes, and the storage route.

[0024] wherein the number of pallets M is calculated according to the formula V i is the volume of the packaging box with number i, K0 is the expected value of the space utilization of the pallet, and [] is the rounding operator.

[0025] Further, in step two, the genes and their relative positions in the first gene sequence are determined according to the height of the N packaging boxes from high to low.

[0026] Further, the space utilization of the pallet is calculated by calculating the placement position of the packaging box on the pallet.

[0027] And the central control device is configured to calculate the placement position of the packaging box on the pallet by:

[0028] determining all support surfaces on the pallet;

[0029] calculating the size and height limit of the required support area according to the size and placement orientation information of the packaging box, and selecting the available and lowest height support surface from all support surfaces according to the size and height limit;

[0030] determining a placement position of the packaging box from the selected support surface, wherein the placement position has a minimum value of distance between a corner closest to the pallet origin in the packaging box and the pallet origin.

[0031] Further, the central control device is configured to represent the placement position of the packaging box by using coordinates of a corner closest to the pallet origin in the packaging box Corner1(x1, y1, z1) and coordinates of a corner farthest from the pallet origin Corner2(x2, y2, z2).

[0032] Further, the automatic picking and placing device comprises a transplanting mechanical arm and an AVG trolley;

[0033] The transplanting mechanical arm is arranged in the storage area and is used to transfer the packaging box from the entrance area to the AVG trolley in a posture corresponding to the placement orientation information;

[0034] The AVG trolley is used to place the packaging box on the pallet according to the entrance route.

[0035] Further, the transplanting mechanical arm comprises a three-dimensional position moving platform and a mechanical arm;

[0036] The three-dimensional position moving platform is arranged above the storage area and is used to move the mechanical arm above the packaging box according to position information of the packaging box in the storage area, and move the mechanical arm above the AVG trolley;

[0037] The mechanical arm is used to clamp the packaging box and adjust the posture of the packaging box according to size information and placement orientation information of the packaging box.

[0038] Further, the AVG trolley comprises a communication unit, a navigation unit, a vehicle body, a lifting mechanism, a rotating support platform, a suction cup actuating mechanism, two drive wheels, four driven wheels, and first and second motors;

[0039] The communication unit is used to communicate with the central control device;

[0040] The navigation unit is used to allow the AVG trolley to automatically travel to a specified position according to the storage / delivery route;

[0041] The two drive wheels are symmetrically arranged in the middle of the vehicle body through a suspension, and the four driven wheels are arranged at four corners of the vehicle body, respectively, and the two drive wheels are also respectively rigidly connected with the front driven wheels on the same side through a rocker arm, and the rocker arm is connected with the vehicle body through a hinge;

[0042] The first and second motors are respectively used for movement and steering of the AVG trolley;

[0043] The lifting mechanism is arranged on the vehicle body for lifting the rotating support platform, and comprises a base, a scissor arm structure and an electric push rod, wherein the base is fixedly connected with the vehicle body, the scissor arm structure is arranged on the base, and the electric push rod is arranged to allow the scissor arm structure to expand or retract in the height direction through the extension and retraction movement thereof;

[0044] The rotating support platform is used for carrying the packaging box, and comprises an outer tooth cross roller bearing and a stepping motor, wherein the stepping motor drives a pinion to engage with the outer ring teeth of the outer tooth cross roller bearing;

[0045] The suction cup execution mechanism is arranged on the rotating support platform, and comprises a height adjusting unit, a telescopic unit and a vacuum suction unit, wherein the height adjusting unit is used for changing the height position of the vacuum suction unit, the telescopic unit is arranged on the height adjusting unit for driving the vacuum suction unit to move in the telescopic direction, and the vacuum suction unit is used for suctioning the packaging box. BRIEF DESCRIPTION OF DRAWINGS

[0046] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings required to be used in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other accompanying drawings can also be obtained by those skilled in the art without any creative effort on the basis of these accompanying drawings.

[0048] Figure 1 A digital warehousing and tracing system for a new energy material industry according to the present application is shown.

[0049] Figure 2 An example of a chromosome according to the present application is shown. DETAILED DESCRIPTION

[0050] In the following, exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are provided by way of example in order to fully convey the spirit of the present application to those skilled in the art to which the present application pertains. Therefore, the present application is not limited to the embodiments disclosed herein.

[0051] Figure 1 A digital warehousing and tracing system for a new energy material industry according to the present application is shown, which can include a three-dimensional warehousing space, an automatic taking and placing device, an explosion-proof data acquisition device, and a central control device.

[0052] The stereoscopic storage space is usually divided into multiple storage areas, and one or more pallets are arranged in each storage area. The multiple pallets can be stacked in the height direction by a support structure at a preset distance, thereby providing multiple storage spaces in a stereoscopic manner to fully utilize the stereoscopic storage space.

[0053] In the stereoscopic storage space of the present application, each pallet is numbered, and its space coordinate information (e.g., including the origin coordinates of the pallet and its length, width, and height data) and the maximum volume V PE (e.g., the product of the cross-sectional area of the pallet and the height) of the pallet are stored in the central control device in advance.

[0054] The explosion-proof data acquisition device can include a data acquisition unit and a circuit board unit arranged in the explosion-proof box.

[0055] The data acquisition unit is used to acquire relevant information of a packaging box (hereinafter referred to as "packaging box") containing new energy materials inside.

[0056] In the present application, the packaging box can be in the shape of a cuboid or a cube. A barcode can be arranged on the surface of the packaging box, and the size information (e.g., length, width, and height) of the packaging box, weight information, box strength, internal new energy material information (e.g., material name, manufacturing-related information, and performance-related information, etc. for traceability), and position information of the packaging box in the storage area, etc. barcode data can be stored in the barcode.

[0057] Therefore, the data acquisition unit can include a barcode scanner for scanning the barcode on the packaging box to read the corresponding barcode data.

[0058] The circuit board unit is used for data processing, storage, and wireless communication. When the data acquisition unit acquires the barcode data of the packaging box and sends it to the circuit board unit, the circuit board unit can number the packaging box and send the barcode data of the packaging box and its number to the central control device through wireless communication.

[0059] In the present application, the central control device can generate the corresponding automatic warehousing information, i.e. the warehousing operation planning, for the packaging boxes after obtaining the barcode data and the numbers of all or part of the packaging boxes in the warehousing area, which includes but is not limited to: the warehousing order Order(i) indicating that the packaging box with the number i will be executed by the Order(i)-th warehousing operation; the pallet number PL(i) indicating that the packaging box with the number i will be placed on the pallet with the number PL(i) in the warehousing operation; the placement orientation information Or(i) indicating that the packaging box with the number i is placed on the pallet in the orientation indicated by the placement orientation information Or(i) (up, down, left, right, front, back); the placement position information P(i) indicating the placement position of the packaging box with the number i on the pallet; and the warehousing route L(i) indicating the path of the packaging box with the number i from the warehousing area to the pallet. In addition, the central control device can also generate the corresponding automatic delivery information for the packaging box when performing the delivery operation, which includes the pallet number, the placement position information, the placement orientation information, and the delivery route, etc.

[0060] Therefore, the automatic picking and placing device can move the packaging box from the warehousing area to the designated position in the storage space according to the automatic warehousing information.

[0061] The specific implementation scheme of the central control device automatically planning and generating the automatic warehousing information of each packaging box for the packaging boxes in the warehousing area will be described in detail below, which is extremely crucial for realizing the high space utilization and stability of the storage space in a fully automated manner.

[0062] As mentioned above, the central control device can obtain the barcode data of each packaging box in the warehousing area through the data acquisition device, such as the size information (e.g. length, width, and height), the weight information, the box strength, the internal new energy material information (e.g. material name, manufacturing related information, and performance related information, etc. for traceability), and the position information of the packaging box in the warehousing area, etc. Based on these data, the central control device can automatically plan and generate the warehousing information of each packaging box by means of the following algorithms, so as to allow the automatic warehousing of the packaging box by means of the automatic picking and placing device while ensuring a high space utilization.

[0063] In the present application, the space utilization K of the pallet is the ratio of the total volume of the packaging boxes carried by the pallet to the maximum containing volume V PE of the pallet.

[0064] In the central control device, the N packaging boxes in the warehousing area have numbers i respectively, i = 1,..., N. As an example, the number i for the packaging box can be determined according to the order of barcode scanning of the packaging box by the data acquisition unit.

[0065] Firstly, the central control device can estimate the number M of pallets required for the N packaging boxes, and select M pallets for the storage operation of the N packaging boxes.

[0066] As an example, the required number M of pallets can be determined according to the formula .

[0067] wherein: V i is the volume of the packaging box with the number i, K0 is the expected value of the space utilization of the pallet, and [] is the rounding operator.

[0068] Subsequently, the central control unit can calculate the storage sequence, the carrying pallet number and the placement orientation information of the N packaging boxes by using the genetic algorithm.

[0069] Specifically, the central control device can generate two original chromosomes for the N packaging boxes to construct an original population.

[0070] In the present application, the chromosome can include three groups of gene sequences, each group of gene sequences having N genes, wherein: the order of the genes in the gene sequence is the storage sequence of the packaging box corresponding to the gene, the genes in the first group of gene sequences represent the numbers of the packaging boxes, the genes in the second group of gene sequences represent the placement orientation information of the packaging boxes, and the genes in the third group of gene sequences represent the carrying pallet numbers of the packaging boxes.

[0071] Therefore, for the N packaging boxes in the storage area, the genes in the first group of gene sequences can be one of the numbers 1 to N.

[0072] Correspondingly, for the M pallets selected in advance to carry the N packaging boxes, the genes in the third group of gene sequences can be selected from the numbers of the M pallets.

[0073] In the present application, different placement orientation information can be represented by different 6 numbers, for example, the numbers 1, 2, 3, 4, 5 and 6 represent the front, back, left, right, up and down placement orientations respectively, and another number (for example, 0) represents the placement orientation is tentative. Therefore, the genes in the first group of gene sequences can be selected from 7 different numbers, for example, 0, 1, 2, 3, 4, 5 and 6.

[0074] Figure 2 An example of the chromosome of the present application is shown. In the example, the first group of gene sequences is represented by the number 1, the second group of gene sequences is represented by the number 2, and the third group of gene sequences is represented by the number 3. Figure 2In the shown chromosome, according to the first gene sequence, it can be determined that in the warehouse-in operation, the objects of the first three warehouse-in operations are the packing boxes numbered 9, 23 and N, and the objects of the last two warehouse-in operations are the packing boxes coded as 1 and N-6; according to the second gene sequence, it can be determined that in the first three warehouse-in operations, the placing orientations of the packing boxes (numbered 9, 23 and N) are 0 (temporary), 5 (up) and 3 (left) respectively, and in the last two warehouse-in operations, the placing orientations of the packing boxes (numbered 1 and N-6) are 3 (left) and 4 (right) respectively; according to the third gene sequence, it can be determined that in the first three warehouse-in operations, the packing boxes (numbered 9, 23 and N) will be carried by the pallets numbered 8, 13 and 8 respectively, and in the last two warehouse-in operations, the packing boxes (numbered 1 and N-6) will be carried by the pallets numbered 25 and 4 respectively.

[0075] In constructing the original population, first, a first original chromosome is generated, wherein the order of each gene in the first gene sequence can be determined according to the height of the packing box. For example, when using the descending order rule, the packing box with the highest and lowest height will be arranged at the first and last positions of the first gene sequence respectively, i.e. the first gene of the first gene sequence is the number of the packing box with the highest height, and the last gene is the number of the packing box with the lowest height. The genes in the second and third gene sequences can be set randomly or according to a preset rule within the corresponding numerical range.

[0076] Therefore, on the basis of the first original chromosome, the order of each gene in the first gene sequence can be randomly exchanged, and the values of each gene in the second gene sequence (i.e. the placing orientation information) and the values of each gene in the third gene sequence (i.e. the pallet number) can be randomly changed to generate a second original chromosome. In this way, the construction of the original population is completed.

[0077] Subsequently, the central control device calculates the space utilization rate of each chromosome in the population to evaluate the chromosomes.

[0078] The central control device can determine the warehouse-in sequence of the packing boxes, the placing orientation information and the carrying pallet number according to the chromosomes, plan the placing position of the packing boxes on the pallets, and calculate the overall space utilization rate.

[0079] Specifically, the central control device determines the placing position of the packing box on the pallet by calculating the coordinates of two opposite corners of the packing box, Corner1(x1, y1, z1) and Corner2(x2, y2, z2), wherein the coordinates Corner1 and Corner2 represent the coordinates of the two corners of the packing box closest to and farthest from the origin coordinate O(0, 0, 0) of the pallet respectively.

[0080] Therefore, when calculating the placement position of the packaging box on the pallet, the central control device first needs to determine all the support surfaces on the current pallet. In the present application, the support surfaces can include the surface Area(z=0) on the pallet that is not occupied, and possibly the top surfaces Area(z=z1), Area(z=z2), … on the packaging boxes already on the pallet that are not occupied. That is, the support surface data stored by the central control device can include the coordinate range of the support surface and the height thereof.

[0081] Then, the central control device can determine the size of the support area required by the current packaging box and the highest height thereof according to the size and placement orientation of the current packaging box, and select, as the support surface of the current packaging box, a support surface having a size and height satisfying the requirements and having the smallest height from the support surface data calculated previously according to the size and height limit. Further, the selected support surface can be calculated to select an area consistent with the contact surface of the packaging box as the support area, wherein the support area is selected to minimize the distance between the corner coordinate Corner1(x1, y1, z1) of the packaging box and the pallet origin coordinate O(0, 0, 0). Thus, the placement position of the current packaging box on the pallet can be determined with respect to the two corner coordinates Corner1(x1, y1, z1) and Corner2(x2, y2, z2) of the current packaging box.

[0082] After the placement positions of the N packaging boxes are determined, the space utilization of each of the M pallets can be calculated, and the overall space utilization corresponding to the chromosome can be calculated.

[0083] As an example, the geometric mean of the space utilization of the M pallets can be calculated as the overall space utilization corresponding to the chromosome.

[0084] After the two original chromosomes of the original population and the corresponding overall space utilization are generated, iterative operations can be performed.

[0085] In the iterative operation, N C new chromosomes are generated based on the chromosomes of the previous generation population through a preset number N C of crossover operations, and N M new chromosomes are generated through a preset number N M of mutation operations; the overall space utilization corresponding to each of the N C +N M new chromosomes is calculated and compared with the overall space utilization of the chromosomes of the previous generation population, and if there is an improvement, the chromosome of the previous generation population is replaced by the new chromosome. C +N MTwo chromosomes with the highest overall space utilization are selected from the new chromosomes to construct a new generation population, and the overall space utilization of the two chromosomes of the new generation population is recorded, otherwise the last generation population is taken as the new generation population.

[0086] In the hybridization operation of the present application, one gene in the two genes at the same gene position in the two chromosomes of the last generation population is randomly selected as the gene at the same gene position in the new chromosome, thereby generating the new chromosome.

[0087] In the mutation operation of the present application, the genes in the first group of gene sequences are randomly exchanged within the gene sequence (for example, the 3rd gene is randomly exchanged to the 5th gene position, the 5th gene is randomly exchanged to the Nth gene position, and so on), the genes in the third group of gene sequences are randomly exchanged within the gene sequence, and the values of the genes in the second group of gene sequences are randomly changed (for example, the value of the 6th gene is randomly changed from 0 to 1, the value of the 9th gene is randomly changed from 5 to 3, and so on), thereby generating the new chromosome.

[0088] In the central control device of the present application, an iteration number threshold and an optimal overall space utilization are also provided, so that when the iteration number reaches the iteration number threshold, the iteration is stopped, and the automatic warehousing operation is performed using the chromosome with the highest overall space utilization in the latest generation population; if the iteration number has not reached the iteration number threshold, but the iteration has not improved the overall space utilization of the population for a continuous preset number of times (for example, five times), the iteration is stopped, and the automatic warehousing operation is performed using the chromosome with the highest overall space utilization in the latest generation population; if the overall space utilization of the chromosomes in the new generation population generated before the iteration number reaches the iteration number threshold reaches the optimal overall space utilization, the iteration is stopped, and the automatic warehousing operation is performed using the chromosome with the maximum overall space utilization.

[0089] When the central control device calculates the chromosomes for N packaging boxes, the warehousing route for the packaging boxes can be determined according to the position information of the packaging boxes in the warehousing area and the pallet number for carrying the packaging boxes, so as to automatically transport the packaging boxes from the warehousing area to the designated position by means of the automatic picking and placing device.

[0090] The automatic picking and placing device of the present application can include a transplanting mechanical arm and an AVG trolley.

[0091] In the present application, the transplanting mechanical arm is arranged in the warehousing area, and is used to transplant the packaging boxes in the warehousing area to the AVG trolley in the selected orientation (according to the chromosome).

[0092] The transplanting mechanical arm can include a three-dimensional position moving platform arranged above the warehousing area and a mechanical arm fixed to the lower end of the platform.

[0093] The three-dimensional position moving platform can move the mechanical arm according to the position information of the packaging box in the storage area provided by the central control device and the size of the packaging box, so as to allow the mechanical arm to form a clamping action on the packaging box.

[0094] The mechanical arm can make the packaging box have a selected placement orientation according to the placement orientation information of the packaging box provided by the central control device, thereby allowing the packaging box to be moved to the AVG trolley in a correct placement orientation by the three-dimensional position moving platform.

[0095] The AVG trolley of the present application can include a communication unit, a navigation unit, a vehicle body, a lifting mechanism, a rotating support platform, a suction cup actuating mechanism, two drive wheels, four driven wheels, and first and second motors.

[0096] The communication unit is used for communication with the central control device, such as obtaining commands for storage routes, retrieval routes, etc.

[0097] The navigation unit is used to allow the AVG trolley to automatically travel to a specified position according to the storage / retrieval route.

[0098] The two drive wheels are symmetrically arranged in the middle of the vehicle body through a suspension to allow the AVG trolley to rotate in place, thereby adapting to the narrow passage environment in the warehouse space. The suspension can ensure reliable contact between the drive wheels and the ground, thereby obtaining sufficient power.

[0099] The four driven wheels are arranged at the four corners of the vehicle body, respectively, to ensure stability and carrying capacity during travel.

[0100] Since the transportation of new energy materials has high requirements for stability, in the AVG trolley of the present application, the two drive wheels are also rigidly connected to the front driven wheels on the same side through a rocker arm, and the rocker arm is connected to the vehicle body through a hinge. Thus, when the AVG trolley passes over an uneven surface (such as a slope), the rocker arm can rotate around the hinge to quickly and smoothly adapt to changes in terrain, improving the stability of the AVG trolley in travel.

[0101] The first and second motors are used for movement and steering of the AVG trolley, respectively.

[0102] The lifting mechanism is arranged on the vehicle body and is used to lift the rotating support platform.

[0103] In the present application, the lifting mechanism can include a base, a scissor arm structure, and an electric push rod. The base is fixedly connected to the vehicle body, the scissor arm structure is arranged on the base, and the electric push rod is arranged to expand or retract the scissor arm structure in the height direction by means of its extension and retraction movement, thereby providing corresponding lifting movement.

[0104] The rotating support platform is used to carry the packaging box and can be controlled to rotate to adjust the direction of the packaging box so as to cooperate with the suction cup actuator to transplant the packaging box to the designated position on the pallet.

[0105] In the present application, the rotating support platform generally needs to bear a large eccentric torque, and therefore, preferably, an external-tooth crossed roller bearing is used as the rotating support component of the rotating support platform.

[0106] Further, a stepping motor can be used to drive a pinion to engage with the teeth of the outer ring of the crossed roller bearing to drive the rotating support platform to rotate, thereby reducing the use of components and saving the height space occupied by the rotating support platform.

[0107] The suction cup actuator is arranged on the rotating support platform and is used to form a close connection with the packaging box by means of the suction cup and to move the packaging box to the designated position by means of the telescopic movement.

[0108] As an example, the suction cup actuator can include a height adjustment unit, a telescopic unit and a vacuum suction unit.

[0109] The height adjustment unit is arranged on the rotating support platform and is used to change the position of the vacuum suction unit in the height direction. For example, the vacuum suction unit can be lowered by means of the height adjustment unit to form a close contact with the top surface of the packaging box on the rotating support platform, so as to form a close connection with the packaging box by means of the vacuum suction cup.

[0110] The telescopic unit is arranged on the height adjustment unit and is used to drive the vacuum suction unit to move in the telescopic direction. Therefore, when the packaging box is adsorbed on the vacuum suction unit, the packaging box can be moved from the AVG trolley to the designated position on the pallet or moved from the pallet to the AVG trolley by means of the telescopic unit.

[0111] Therefore, the present application proposes a new energy material industry digital warehouse and tracing system, which can automatically plan the warehousing sequence, placement orientation and in-warehouse placement position for a plurality of packaging boxes to be warehoused, and plan the warehousing / discharging route, so as to realize high warehouse space utilization and placement stability. In addition, by means of the special AVG trolley structure, the packaging box can be automatically placed in the desired posture at the designated position according to the warehousing program in a stable and reliable manner. Therefore, by means of the digital warehouse and tracing system of the present application, the employees do not need to enter the warehouse space for operation during the warehousing and discharging process of the new energy material, and the relevant information about the packaging box and the material can be saved for tracing, which can greatly improve the production efficiency, safety and traceability of the warehouse space.

[0112] Although the present application has been described with reference to specific embodiments thereof, it should be understood by those skilled in the art that various changes can be made therein without departing from the spirit and scope of the present application.

Claims

1. A digital warehousing and tracing system for new energy material industry, comprising a stereoscopic warehousing space, an automatic taking and placing device, an explosion-proof data acquisition device, and a central control device; The stereoscopic warehousing space has one or more storage areas, and each storage area is provided with one or more pallets for storing packaging boxes of new energy materials, wherein The plurality of pallets in the same storage area are stacked at a preset distance in the height direction; The explosion-proof data acquisition device is used to acquire information of the packaging boxes and the new energy materials, and send the information to the central control device; The central control device is used to generate automatic warehousing information according to the packaging box information; The automatic taking and placing device is used to automatically transfer the packaging boxes from the warehousing area to the pallets according to the automatic warehousing information; The explosion-proof data acquisition device comprises a data acquisition unit and a circuit board unit; The data acquisition unit is used to acquire size information, weight information, box strength, and position information of the packaging boxes in the warehousing area, and new energy material information, and send the information to the circuit board unit; The circuit board unit is packaged in an explosion-proof box, and is arranged to number the packaging boxes, and send the packaging box information, the number, and the new energy material information to the central control device; The central control device stores the number, spatial coordinate information and maximum holding volume V of the pallets PE and is configured to generate automatic warehousing information for N packaging boxes of the warehousing area by performing the following steps: Step one, calculate the number M of pallets required for N packaging boxes, and select the numbers of M pallets; Step two, generate first and second original chromosomes for N packaging boxes, and construct an original population; Each group of gene sequences has N genes, the relative position of the genes in the group of gene sequences represents the warehousing order, the genes in the first group of gene sequences represent the numbers of the packaging boxes, the genes in the second group of gene sequences represent the placement orientation information of the packaging boxes, and the genes in the third group of gene sequences represent the pallet numbers of the packaging boxes, wherein the genes and their relative positions in the first group of gene sequences are determined according to the height sorting of the N packaging boxes from high to low; The genes and their relative positions in the first group of gene sequences are determined according to the height sorting of the N packaging boxes, the genes in the second group of gene sequences are randomly selected or selected according to a preset rule from seven values, and the genes in the third group of gene sequences are randomly selected or selected according to a preset rule from M pallet numbers, thereby generating the first original chromosome, wherein the seven values respectively represent front, rear, left, right, up, down, and temporary; The second original chromosome is generated by randomly exchanging the relative positions of the genes in the first group of gene sequences, randomly changing the values of the genes in the second group of gene sequences, and randomly changing the values of the genes in the third group of gene sequences based on the first original chromosome; Step three, calculating the overall space utilization of the chromosomes in the current latest population, wherein the overall space utilization of the chromosomes is the geometric mean of the space utilizations of the M pallets, and the space utilization of a pallet is the ratio of the total volume of the packaging boxes carried by the pallet to the maximum volume V PE of the pallet. Step four, use the chromosomes of the current latest population to generate a new generation of population by hybridization and mutation; wherein: N C sub-population is generated by using the chromosomes of the current latest population, and the overall space utilization of the new chromosomes is calculated, wherein the genes of the new chromosomes are randomly selected from one of two genes at the same position on two chromosomes of the current latest population; C sub-population is generated by using the chromosomes of the current latest population, and the overall space utilization of the new chromosomes is calculated, wherein the genes of the new chromosomes are randomly selected from one of two genes at the same position on two chromosomes of the current latest population; N M sub-mutations to generate N M new chromosomes, and calculate the overall space utilization corresponding to the new chromosomes, wherein the new chromosomes are generated by randomly exchanging the relative positions of genes in the first gene sequence of the chromosomes of the current latest population, randomly changing the values of the genes in the second gene sequence, and randomly changing the values of the genes in the third gene sequence. For N C +N M The overall space utilization of each of the N new chromosomes is calculated, and compared with the overall space utilization of the chromosomes of the previous generation population. If there is an improvement, the two chromosomes with the highest overall space utilization are selected from the N C +N M new chromosomes to construct a new generation population, and the overall space utilization of the two chromosomes of the new generation population is recorded. Otherwise, the previous generation population is taken as the new generation population. Step five, repeat step four to iterate, and stop iteration and perform step six when the iteration number reaches a preset threshold, or when the iteration number does not reach the preset threshold but a continuously preset number of iterations do not generate a new generation of population with improved overall space utilization, or when the iteration number does not reach the preset threshold but the chromosomes of the generated new generation of population have a preset optimal overall space utilization; Step six, determine the optimal solution based on the chromosomes of the new generation of population. Step six, according to the chromosome with the highest overall space utilization in the current latest population, generate the storage sequence, placement orientation information and pallet number for N packages, and the storage route.

2. The digitized warehousing and traceability system as claimed in claim 1, wherein, The number of pallets M, V is calculated according to the formula M, V = K0 * [V / V0] i V is the volume of the package number i, K0 is the expected value of the pallet space utilization, and [] is the rounding operator.

3. The digitized warehousing and traceability system as claimed in claim 2, wherein, The space utilization of the pallet is calculated by calculating the placement position of the package on the pallet; And the central control device is configured to calculate the placement position of the package on the pallet by the following way: Determine all support surfaces on the pallet; According to the size and placement orientation information of the package, calculate the size and height limit of the required support area, and select the lowest height support surface from all support surfaces according to the size and height limit; From the selected support surface, determine the placement position of the package, wherein the placement position has the minimum value of the distance between the closest corner of the package to the origin of the pallet and the origin of the pallet.

4. The digitized warehousing and traceability system as claimed in claim 3, wherein, The central control device is configured to represent the placement position of the package using the coordinates of the closest corner of the package to the origin of the pallet Corner1(x1, y1, z1) and the coordinates of the farthest corner of the package to the origin of the pallet Corner2(x2, y2, z2).

5. The digitized warehousing and traceability system as claimed in claim 4, wherein, The automatic pick-and-place device includes a transfer robot arm and an AVG trolley; The transfer robot arm is arranged in the storage area and is used to transfer the package from the entrance area to the AVG trolley in a posture corresponding to the placement orientation information; The AVG trolley is used to place the package on the pallet according to the entrance route.

6. The digitized warehousing and traceability system as claimed in claim 5, wherein, The transfer robot arm includes a three-dimensional position moving platform and a robot arm; The three-dimensional position moving platform is arranged above the storage area and is used to move the robot arm above the package according to the position information of the package in the storage area, and move the robot arm above the AVG trolley; The robot arm is used to clamp the package and adjust its posture according to the size information and placement orientation information of the package.

7. The digitized warehousing and traceability system as claimed in claim 6, wherein, The AVG trolley includes a communication unit, a navigation unit, a vehicle body, a lifting mechanism, a rotating support platform, a suction cup actuating mechanism, two drive wheels, four driven wheels, and first and second motors; The communication unit is used for communication with the central control device; The navigation unit is used to allow the AVG trolley to automatically drive to a specified position according to the storage / withdrawal route; The two drive wheels are symmetrically arranged in the middle of the vehicle body through a suspension, and the four driven wheels are arranged at the four corners of the vehicle body, respectively, and the two drive wheels are also respectively rigidly connected with the front driven wheels on the same side through a rocker arm, which is connected with the vehicle body through a hinge; The first and second motors are respectively used for moving and steering the AVG trolley; The lifting mechanism is arranged on the vehicle body for lifting the rotating support platform, and includes a base, a scissor arm structure and an electric push rod, wherein the base is fixedly connected with the vehicle body, the scissor arm structure is arranged on the base, and the electric push rod is arranged to allow the scissor arm structure to expand or retract in the height direction by its extension and retraction movement; The rotating support platform is used to carry the package and includes an external tooth cross roller bearing and a stepping motor, wherein the stepping motor drives a pinion gear to mesh with the outer ring teeth of the external tooth cross roller bearing. The suction cup actuating mechanism is arranged on the rotating support platform and comprises a height adjusting unit, an extension unit and a vacuum suction unit, wherein the height adjusting unit is used to change the height position of the vacuum suction unit, the extension unit is arranged on the height adjusting unit to drive the vacuum suction unit to move in the extension direction, and the vacuum suction unit is used to adsorb the packaging box.

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