Four-way shuttle vehicle and method of determining whether a load carried by the shuttle vehicle is abnormal, warehouse management system and computer readable storage medium

Abstract

The application provides a four-way shuttle vehicle, comprising: a cargo support; a weighing module comprising a plurality of pressure sensors located at different positions of the cargo support and configured to measure the load at different positions of the cargo support; and a control module coupled to the weighing module and configured to determine whether the load of the cargo support is abnormal based on the load at different positions of the cargo support. The four-way shuttle vehicle of the application can measure the load at different positions of the cargo support in real time through the plurality of pressure sensors of the self-provided weighing module, determine whether the load of the cargo support is abnormal in real time based on the load at different positions of the cargo support, improve the accuracy and real-time performance of the detection result, and can eliminate the weighing module or sensor during warehousing, thereby improving the detection convenience and reliability.

Description

Technical Field

[0001] This invention relates generally to the field of warehouse technology, and more particularly to a four-way shuttle, a method for determining whether the load-bearing capacity of the pallets of the four-way shuttle is abnormal, a warehouse management system, and a computer-readable storage medium. Background Technology

[0002] Four-way shuttles are key pieces of equipment in the field of logistics automation, designed specifically for efficiently performing the storage, retrieval, and handling of goods within warehouse racking systems. With their high degree of automation and flexibility, four-way shuttles can move in multiple directions, thereby optimizing warehouse space utilization and improving operational efficiency.

[0003] Existing methods for detecting load-bearing anomalies in four-way shuttles generally fall into two categories. The first involves installing weighing modules and shape detection devices at the loading point of the automated storage and retrieval system (AS / RS). This method cannot detect whether the load-bearing capacity of the pallets is abnormal; it only determines whether the goods have shifted beyond the pallet's limits using the shape detection device. It cannot monitor the pallets' position within the AS / RS in real time, and therefore cannot respond immediately to load-bearing anomalies. The second method involves installing proximity switches and other sensors on the four-way shuttle to detect pallet displacement. This approach also cannot detect whether the pallets themselves are experiencing load-bearing anomalies. Therefore, improving the accuracy and real-time performance of detecting load-bearing anomalies in four-way shuttle pallets is the technical problem this invention aims to solve.

[0004] The content of the background section is merely the technology known to the inventor and does not necessarily represent the prior art in this field. Summary of the Invention

[0005] To address one or more of the problems existing in the prior art, the present invention provides a four-way shuttle vehicle, comprising:

[0006] freight forwarding;

[0007] The weighing module includes multiple pressure sensors located at different positions on the pallet, configured to measure the load-bearing capacity at different positions on the pallet; and

[0008] The control module, coupled to the weighing module, is configured to determine whether the load on the pallet is abnormal based on the load at different locations of the pallet.

[0009] Optionally, the four-way shuttle further includes an actuator coupled to the control module, the control module being configured to control the operation of the actuator based on a determination of whether the load on the pallet is abnormal.

[0010] Optionally, the abnormal load-bearing condition of the cargo pallet includes one or more of the following: overload, off-center loading, lifting without load, and lowering with load.

[0011] Optionally, the plurality of pressure sensors includes a first pressure sensor, a second pressure sensor, a third pressure sensor, and a fourth pressure sensor. The first pressure sensor is disposed at a first position on the cargo pallet and is used to measure the load-bearing capacity at the first position. The second pressure sensor is disposed at a second position on the cargo pallet and is used to measure the load-bearing capacity at the second position. The third pressure sensor is disposed at a third position on the cargo pallet and is used to measure the load-bearing capacity at the third position. The fourth pressure sensor is disposed at a fourth position on the cargo pallet and is used to measure the load-bearing capacity at the fourth position.

[0012] Optionally, the shape of the pallet includes a rectangle, with the first and third positions being symmetrical about the center of the pallet, and the second and fourth positions being symmetrical about the center of the pallet; the first, second, third, and fourth positions form the four vertices of a parallelogram, rhombus, rectangle, or square.

[0013] Optionally, the control module is configured to determine the sum of the loads at the first, second, third, and fourth positions, and to determine whether the sum of the loads is greater than or equal to a first threshold, so as to determine whether the load of the pallet is overloaded.

[0014] Optionally, the control module is configured to determine the maximum and minimum load values ​​of the first, second, third, and fourth positions, and to determine whether the difference between the maximum and minimum values ​​is greater than or equal to a second threshold, so as to determine whether the load of the cargo pallet is unbalanced, wherein the second threshold is less than the first threshold.

[0015] Optionally, the control module is configured to determine the sum of the loads at the first, second, third, and fourth positions, and to determine the lifting state of the pallet. When it is determined that the pallet is in the lifting state, it determines whether the sum of the loads is less than or equal to a third threshold, so as to determine whether the pallet in the lifting state is unloaded. The third threshold is less than the first threshold.

[0016] Optionally, the control module is configured to determine the sum of the loads at the first, second, third, and fourth positions, and to determine the lifting state of the pallet. When it is determined that the pallet is in a lowering state, it determines whether the sum of the loads is greater than or equal to a fourth threshold, so as to determine whether the pallet in the lowering state is carrying a load. The fourth threshold is less than the first threshold.

[0017] Optionally, the control module is configured to control the actuator to decelerate when it is determined that the pallet is overloaded and / or unbalanced.

[0018] Optionally, the control module is configured to control the actuator to stop moving when it determines that the cargo pallet is raised empty and / or lowered with a load.

[0019] Optionally, the control module is configured to issue an alarm when it determines that the load-bearing capacity of the pallet is abnormal.

[0020] Optionally, the pressure sensor includes at least one of a spoke-type force sensor or a thin-film pressure sensor.

[0021] The present invention also provides a method for determining whether the load-bearing capacity of a cargo pallet in a four-way shuttle is abnormal, comprising:

[0022] S11: The load-bearing capacity at different locations on the pallet is measured using multiple pressure sensors located at different positions on the pallet; and

[0023] S12: Based on the load-bearing capacity at different locations of the pallet, determine whether the load-bearing capacity of the pallet is abnormal.

[0024] Optionally, the method further includes:

[0025] S13: Based on the determination of whether the load-bearing capacity of the cargo pallet is abnormal, control the operation of the actuator of the four-way shuttle.

[0026] Optionally, the abnormal load-bearing condition of the cargo pallet includes one or more of the following: overload, off-center loading, lifting without load, and lowering with load.

[0027] Optionally, the plurality of pressure sensors includes a first pressure sensor, a second pressure sensor, a third pressure sensor, and a fourth pressure sensor. The first pressure sensor is disposed at a first position on the pallet, the second pressure sensor is disposed at a second position on the pallet, the third pressure sensor is disposed at a third position on the pallet, and the fourth pressure sensor is disposed at a fourth position on the pallet. Step S11 includes: measuring the load-bearing capacity at the first position using the first pressure sensor, measuring the load-bearing capacity at the second position using the second pressure sensor, measuring the load-bearing capacity at the third position using the third pressure sensor, and measuring the load-bearing capacity at the fourth position using the fourth pressure sensor.

[0028] Optionally, the shape of the pallet includes a rectangle, with the first and third positions being symmetrical about the center of the pallet, and the second and fourth positions being symmetrical about the center of the pallet; the first, second, third, and fourth positions form the four vertices of a parallelogram, rhombus, rectangle, or square.

[0029] Optionally, step S12 includes: determining the sum of the loads at the first, second, third, and fourth positions, and determining whether the sum of the loads is greater than or equal to a first threshold, so as to determine whether the load of the pallet is overloaded.

[0030] Optionally, step S12 includes: determining the maximum and minimum load values ​​of the first, second, third, and fourth positions, and determining whether the difference between the maximum and minimum values ​​is greater than or equal to a second threshold, so as to determine whether the load of the pallet is unevenly loaded, wherein the second threshold is less than the first threshold.

[0031] Optionally, step S12 includes: determining the sum of the loads at the first position, the second position, the third position, and the fourth position, and determining the lifting state of the pallet; when it is determined that the pallet is in the lifting state, determining whether the sum of the loads is less than or equal to a third threshold, so as to determine whether the pallet in the lifting state is unloaded, wherein the third threshold is less than the first threshold.

[0032] Optionally, step S12 includes: determining the sum of the loads at the first position, the second position, the third position, and the fourth position, and determining the lifting state of the pallet; when it is determined that the pallet is in a lowering state, determining whether the sum of the loads is greater than or equal to a fourth threshold, so as to determine whether the pallet in the lowering state is loaded, wherein the fourth threshold is less than the first threshold.

[0033] Optionally, step S13 includes: when it is determined that the pallet is overloaded and / or unbalanced, controlling the actuator to decelerate.

[0034] Optionally, step S13 includes: when determining that the pallet is raised empty and / or lowered with a load, controlling the actuator to stop moving.

[0035] Optionally, step S12 includes: issuing an alarm when the load-bearing capacity of the pallet is determined to be abnormal; and reporting the determination result of whether the load-bearing capacity of the pallet is abnormal to the server.

[0036] Optionally, the pressure sensor includes at least one of a spoke-type force sensor or a thin-film pressure sensor.

[0037] The present invention also provides a warehouse management system, comprising:

[0038] Server; and

[0039] The four-way shuttle, as described above, communicates with the server and is configured to perform the method described above.

[0040] The present invention also provides a computer-readable storage medium including computer-executable instructions stored thereon, which, when executed by a processor, implement the method described above.

[0041] The four-way shuttle of the present invention can measure the load-bearing capacity of different positions of the pallet in real time through multiple pressure sensors of its built-in weighing module. Based on the load-bearing capacity of different positions of the pallet, it can determine in real time whether the load-bearing capacity of the pallet is abnormal, which can improve the accuracy and real-time performance of the detection results. Furthermore, it can eliminate the need for a weighing module or sensor during warehousing, thus improving the convenience and reliability of detection. Attached Figure Description

[0042] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0043] Figure 1 A schematic diagram of a four-way shuttle vehicle according to some embodiments of the present invention is shown.

[0044] Figure 2 A schematic diagram showing the positional relationship between a pressure sensor and a cargo tray according to some preferred embodiments of the present invention is provided.

[0045] Figure 3 A schematic diagram of a four-way shuttle according to other embodiments of the present invention is shown.

[0046] Figure 4 A flowchart is shown of a method for determining whether the load-bearing capacity of a cargo pallet of a four-way shuttle is abnormal according to some embodiments of the present invention.

[0047] Figure 5 A flowchart illustrating a method for determining whether the load capacity of a four-way shuttle pallet is overloaded according to some embodiments of the present invention is shown.

[0048] Figure 6 A flowchart is shown illustrating a method for determining whether the load on a cargo pallet of a four-way shuttle is unevenly loaded according to some embodiments of the present invention.

[0049] Figure 7 A flowchart illustrating a method for determining whether the load-bearing capacity of a four-way shuttle is raised when empty and / or lowered when loaded, according to some embodiments of the present invention, is shown.

[0050] Figure 8 A schematic diagram of a warehouse management system according to some embodiments of the present invention is shown. Detailed Implementation

[0051] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0052] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0053] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0055] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0056] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0057] This invention provides a four-way shuttle vehicle. Figure 1 A schematic diagram of a four-way shuttle 100 according to some embodiments of the present invention is shown. Figure 1 As shown, the four-way shuttle 100 includes a pallet H, a weighing module 10, and a control module 20. The weighing module 10 includes multiple pressure sensors located at different positions on the pallet H to measure the load at different positions on the pallet H. The control module 20 is coupled to the weighing module 10 and determines whether the load on the pallet H is abnormal based on the load at different positions on the pallet H.

[0058] The four-way shuttle of the present invention can measure the load-bearing capacity of different positions of the pallet in real time through multiple pressure sensors of its built-in weighing module. Based on the load-bearing capacity of different positions of the pallet, it can determine in real time whether the load-bearing capacity of the pallet is abnormal, which can improve the accuracy and real-time performance of the detection results. Furthermore, it can eliminate the need for a weighing module or sensor during warehousing, thus improving the convenience and reliability of detection.

[0059] Figure 2 A schematic diagram illustrating the positional relationship between a pressure sensor and a cargo tray according to some preferred embodiments of the present invention is shown. For example... Figure 2 As shown, the multiple pressure sensors include a first pressure sensor S1, a second pressure sensor S2, a third pressure sensor S3, and a fourth pressure sensor S4. The first pressure sensor S1 is located at a first position of the pallet H and is used to measure the load W1 at the first position. The second pressure sensor S2 is located at a second position of the pallet H and is used to measure the load W2 at the second position. The third pressure sensor S3 is located at a third position of the pallet H and is used to measure the load W3 at the third position. The fourth pressure sensor S4 is located at a fourth position of the pallet H and is used to measure the load W4 at the fourth position. The pressure sensors include at least one of a spoke-type force sensor or a thin-film pressure sensor.

[0060] In some embodiments, such as Figure 2 As shown, the coordinate system of the four-way shuttle is XOY. The first pressure sensor S1 is positioned along the positive X-axis, the second pressure sensor S2 along the positive Y-axis, the third pressure sensor S3 along the negative X-axis, and the fourth pressure sensor S4 along the negative Y-axis. The cargo pallet H has a rectangular shape. The center O of the cargo pallet H coincides with the origin of the four-way shuttle's coordinate system. The first and third positions are symmetrical about the center O of the cargo pallet H. The second and fourth positions are also symmetrical about the center O of the cargo pallet H. The first, second, third, and fourth positions can form the four vertices of a parallelogram, rhombus, rectangle, or square. The pressure sensors include at least one of spoke-type force sensors or thin-film pressure sensors, which can accurately detect the load on different positions of the cargo pallet. The types of pressure sensors at different positions can be the same or different; in practical applications, the appropriate type can be selected based on requirements. The four-way shuttle may also include components such as a top cover (not shown in the figure). Goods can be placed on the top cover of the four-way shuttle, and pressure sensors can be placed under the top cover to measure the load-bearing capacity at different positions on the contact surface of the top cover of the four-way shuttle.

[0061] It should be noted that, Figure 2 The four pressure sensors and four locations shown in the embodiment are merely illustrative and are not intended to limit the invention. In practical applications, the number, type, and measurement locations of the pressure sensors can be set according to requirements.

[0062] Figure 3 A schematic diagram of a four-way shuttle 200 according to other embodiments of the present invention is shown. Figure 3 As shown, the four-way shuttle 200 is largely the same as the four-way shuttle 100, except that the four-way shuttle 200 also includes an actuator 30, which is coupled to the control module 20. The control module 20 can control the operation of the actuator 30 based on the determination of whether the load on the pallet H is abnormal. How the control module 20 controls the operation of the actuator 30 based on the determination of whether the load on the pallet H is abnormal will be described in detail later.

[0063] The present invention also provides a method for determining whether the load-bearing capacity of the cargo pallet of a four-way shuttle is abnormal. Figure 4 A flowchart of a method 300 for determining whether the load-bearing capacity of a pallet H of a four-way shuttle 100 / 200 is abnormal, according to some embodiments of the present invention, is shown. Figures 1 to 4As shown, method 300 includes steps S11 and S12. In step S11, the load-bearing capacity at different locations of the pallet H is measured by multiple pressure sensors located at different positions of the pallet H. Step S11 can be performed by the weighing module 10. The multiple pressure sensors of the weighing module 10 can send the load-bearing data measured at different locations of the pallet H to the control module 20. Step S12 can be performed by the control module 20. In step S12, the control module 20 can receive the load-bearing data sent by the weighing module 10 and determine whether the load-bearing capacity of the pallet H is abnormal based on the load-bearing capacity at different locations of the pallet H. Abnormal load-bearing capacity of the pallet H includes one or more of overload, off-center loading, lifting without load, and lowering with load. In some embodiments, method 300 further includes step S13. This step can be performed by the control module 20. In step S13, based on the determination result of whether the load-bearing capacity of the pallet H is abnormal, the operation of the actuator 30 of the four-way shuttle 100 / 200 is controlled.

[0064] The following describes the specific process for determining whether the load-bearing capacity of cargo pallet H is abnormal.

[0065] Figure 5 A flowchart of a method 400 for determining whether the load capacity of a pallet H of a four-way shuttle 100 / 200 is overloaded, according to some embodiments of the present invention, is shown. Figures 1 to 5 As shown, method 400 includes steps S11 to S13.

[0066] Step S11 includes sub-steps S111 to S114. Step S11 and its sub-steps S111 to S114 are executed by the weighing module 10. In sub-step S111, the load W1 at the first position of the pallet H is measured by the first sensor S1. In sub-step S112, the load W2 at the second position of the pallet H is measured by the second sensor S2. In sub-step S113, the load W3 at the third position of the pallet H is measured by the third sensor S3. In sub-step S114, the load W4 at the fourth position of the pallet H is measured by the fourth sensor S4.

[0067] Step S12 includes: determining the sum of the loads at the first, second, third, and fourth positions, and determining whether the sum of the loads is greater than or equal to a first threshold, to determine whether the pallet is overloaded. Specifically, step S12 includes sub-steps S121 to S124. Step S12 and its sub-steps S121 to S124 are executed by the control module 20.

[0068] In sub-step S121, determine the total load-bearing capacity W-total of the first, second, third, and fourth positions of the cargo pallet H, where W-total = W1 + W2 + W3 + W4.

[0069] In sub-step S122, determine whether the total load W-total of the cargo pallet H is greater than or equal to the first threshold TH1.

[0070] When it is determined that the total load W-total of the cargo pallet H is greater than or equal to the first threshold TH1, sub-step S123 is executed to determine that the load of the cargo pallet H is overloaded.

[0071] When the total load W-total of the cargo pallet H is determined to be less than the first threshold TH1, sub-step S124 is executed to determine that the load of the cargo pallet H is not overloaded.

[0072] Step S13 includes sub-steps S131 to S132. Step S13 and its sub-steps S131 to S132 are executed by control module 20. When it is determined that the load capacity of pallet H is overloaded, sub-step S131 is executed, controlling actuator 30 to decelerate. When it is determined that the load capacity of pallet H is not overloaded, sub-step S132 is executed, controlling actuator 30 to continue execution (e.g., maintaining the current speed). Actuator 30 includes at least one of a DC servo motor or a servo hub motor, which can drive the wheels of the four-way shuttle. Control module 20 can send a speed command to actuator 30, and actuator 30 can execute the speed command sent by control module 20, thereby controlling the speed of the four-way shuttle. When it is determined that the load capacity of pallet H is overloaded, control module 20 can send a deceleration command to actuator 30, and actuator 30 can execute the deceleration command sent by control module 20, thereby controlling the four-way shuttle to decelerate, so that the four-way shuttle operates stably. When it is determined that the load capacity of pallet H is not overloaded, the control module 20 can send a speed-maintaining command to the actuator 30. The actuator 30 can execute the speed-maintaining command sent by the control module 20, thereby controlling the four-way shuttle to continue moving. In some embodiments, when it is determined that the load capacity of pallet H is not overloaded, the control module 20 can also send an acceleration command to the actuator 30. The actuator 30 can execute the acceleration command sent by the control module 20, thereby controlling the four-way shuttle to accelerate.

[0073] Figure 6 A flowchart of a method 500 for determining whether the load-bearing capacity of a pallet H of a four-way shuttle 100 / 200 is unevenly loaded, according to some embodiments of the present invention, is shown. Figures 1 to 4 and Figure 6 As shown, method 500 includes steps S11 to S13. Step S11 includes sub-steps S111 to S114. Figure 6 Sub-steps S111 to S114 in the embodiment and Figure 5 The embodiments described are the same or similar, and will not be repeated here.

[0074] Step S12 includes: determining the maximum and minimum load values ​​at the first, second, third, and fourth positions; determining whether the difference between the maximum and minimum values ​​is greater than or equal to a second threshold to determine whether the load on the pallet is unevenly distributed; and the second threshold is less than the first threshold. Specifically, step S12 includes sub-steps S125 to S128. Step S12 and its sub-steps S125 to S128 can be executed by the control module 20.

[0075] In sub-step S125, the maximum and minimum load-bearing values ​​W-max and W-min for the first, second, third, and fourth positions are determined.

[0076] The maximum value is W-max = Max(W1,W2,W3,W4).

[0077] The minimum value is W-min = Min(W1,W2,W3,W4).

[0078] In sub-step S126, it is determined whether the difference ΔW between the maximum and minimum load-bearing values ​​W-max and W-min at the first, second, third, and fourth positions is greater than or equal to the second threshold TH2, where the second threshold TH2 is less than the first threshold TH1. This difference ΔW = W-max - W-min.

[0079] When the difference ΔW between the maximum and minimum load values ​​W-max and W-min of the first, second, third, and fourth positions is greater than or equal to the second threshold TH2, sub-step S127 is executed to determine the load-bearing off-center load of the pallet H.

[0080] When the difference ΔW between the maximum and minimum load values ​​W-max and W-min of the load at the first, second, third, and fourth positions is less than the second threshold TH2, sub-step S128 is executed to determine that the load on pallet H is not off-center.

[0081] Step 13 includes sub-steps S131 to S132. Step S13 and its sub-steps S131 to S132 are executed by control module 20. When it is determined that the load on pallet H is off-center, sub-step S131 is executed, controlling the actuator 30 to decelerate. When it is determined that the load on pallet H is not off-center, sub-step S132 is executed, controlling the actuator 30 to continue execution. Figure 6 Sub-steps S131 to S132 in the embodiment and Figure 5 The embodiments described are the same or similar, and will not be repeated here.

[0082] In some embodiments, the control module 20 can determine whether the load on pallet H is overloaded and / or unevenly loaded based on the load-bearing capacity at the first, second, third, and fourth positions. For example, the control module 20 can execute sub-steps S121 to S128 to determine whether the load on pallet H is overloaded and / or unevenly loaded. When it is determined that pallet H is overloaded and / or unevenly loaded, the control module 20 can execute sub-step S131 to control the actuator 30 to decelerate. When it is determined that pallet H is not overloaded and / or unevenly loaded, the control module 20 can execute sub-step S132 to control the actuator 30 to continue execution. Figure 5 and Figure 6 The examples described are the same or similar, and will not be repeated here.

[0083] Figure 7 A flowchart of a method 600 for determining whether the load-bearing capacity of a cargo pallet H of a four-way shuttle 100 / 200 is raised when empty and / or lowered when loaded, according to some embodiments of the present invention, is shown. Figures 1 to 4 and Figure 7 As shown, method 600 includes steps S11 to S13. Step S11 includes sub-steps S111 to S114. Figure 7 Sub-steps S111 to S114 in the embodiment and Figure 5 or Figure 6 The embodiments described are the same or similar, and will not be repeated here. The following is in conjunction with... Figures 1 to 4 and Figure 7 describe,

[0084] Step S12 includes sub-steps S121, S129, S1210, S1211 and S1212, which are executed by the control module 20.

[0085] In sub-step S121, the total load-bearing capacity W-total for the first, second, third, and fourth positions is determined. This step is related to... Figure 5 The embodiments described are the same or similar, and will not be repeated here.

[0086] In sub-step S129, the lifting / lowering state of pallet H is determined. This step is executed by control module 20. The present invention does not limit the specific method of determining the lifting / lowering state of pallet H. In some embodiments, control module 20 can determine the height change of pallet H to determine its lifting / lowering state. In other embodiments, the four-way shuttle may also include image sensors, distance sensors, etc., and control module 20 can determine the lifting / lowering state of pallet H based on data measured by image sensors, distance sensors, etc. It should be noted that under normal circumstances, the four-way shuttle's pallet H carries goods when it is lifted and does not carry goods when it is lowered. Therefore, pallet H being empty in the lifting state is an abnormal state, and pallet H being loaded in the lowering state is an abnormal state.

[0087] When it is determined that pallet H is in the lifting state, sub-step S1210 is executed to determine whether the total load W-total is less than or equal to the third threshold TH3, in order to determine whether pallet H in the lifting state is unloaded. The third threshold TH3 is less than the first threshold TH1. When it is determined that the total load W-total is less than or equal to the third threshold TH3, sub-step S1211 is executed to determine that pallet H in the lifting state is unloaded (abnormal). When it is determined that the total load W-total is greater than the third threshold TH3, sub-step S1212 is executed to determine that pallet H in the lifting state is not unloaded (normal). It should be understood that "not unloaded (normal)" here only means that pallet H is not lifting and unloaded (abnormal), and does not mean that the load-bearing capacity of pallet H is necessarily normal. It is also necessary to consider the above. Figure 5 and Figure 6 The described embodiments were determined comprehensively.

[0088] In some embodiments, the control module 20 can monitor the lifting status of the four-way shuttle in real time. When it detects that the cargo pallet has been lifted off the top of the four-way shuttle, it can detect the load-bearing capacity of the cargo pallet and report the weight of the cargo.

[0089] Step 13 includes sub-steps S132 to S133. Step S13 and its sub-steps S132 to S133 are executed by control module 20. When it is determined that the cargo pallet H in the lifting state is not empty (normal), sub-step S132 is executed, and the control actuator 30 continues to execute, in conjunction with... Figure 5 The same or similar embodiments described herein will not be repeated here. When it is determined that the pallet H in the lifting state is empty (abnormal), sub-step S133 is executed to control the actuator 30 to stop moving. The control module 20 can send a stop command to the actuator 30, and the actuator 30 can execute the stop command sent by the control module 20, thereby controlling the four-way shuttle to stop moving.

[0090] Step S12 also includes sub-steps S1213, S1214 and S1215, which are executed by the control module 20.

[0091] When it is determined that pallet H is in a descending state, sub-step S1213 is executed to determine whether the total load W-total is greater than or equal to the fourth threshold TH4, in order to determine whether pallet H in the descending state is loaded. The fourth threshold TH4 is less than the first threshold TH1. When it is determined that the total load W-total is greater than or equal to the fourth threshold TH4, pallet H in the descending state is determined to be loaded (abnormal). When it is determined that the total load W-total is less than the fourth threshold TH4, pallet H in the descending state is determined to be unloaded (normal). It should be understood that "unloaded (normal)" here only means that pallet H is not descending with a load (abnormal), and does not mean that the load of pallet H is necessarily normal. It is also necessary to consider the above. Figure 5 and Figure 6The described embodiments were determined comprehensively.

[0092] It should be noted that the present invention does not impose any restrictions on the magnitude relationship between the second threshold, the third threshold, and the fourth threshold, and these relationships can be set according to requirements.

[0093] Step 13 includes sub-steps S132 to S133. Step S13 and its sub-steps S132 to S133 are executed by control module 20. When it is determined that the pallet H in the descending state is not loaded (normal), sub-step S132 is executed, and the control actuator 30 continues to execute, in conjunction with... Figure 5 The same or similar embodiments described herein will not be repeated here. When it is determined that the pallet H in the descending state is loaded (abnormal), sub-step S133 is executed to control the actuator 30 to stop moving. The control module 20 can send a stop command to the actuator 30, and the actuator 30 can execute the stop command sent by the control module 20, thereby controlling the four-way shuttle to stop moving.

[0094] In some embodiments, the control module 20 can determine whether the load on the pallet H is raised to an empty position and / or lowered to a loaded position based on the lifting status of the pallet H and the load at the first, second, third, and fourth positions. For example, the control module 20 can execute sub-steps S121, S129, S1210, S1211, S1212, S1213, S1214, and S1215 to determine whether the load on the pallet H is raised to an empty position and / or lowered to a loaded position. When it is determined that the pallet H is raised to an empty position and / or lowered to a loaded position, the control module 20 can execute sub-step S133 to stop the actuator 30 from moving. When it is determined that the pallet H is not raised to an empty position and / or not lowered to a loaded position, the control module 20 can execute sub-step S132 to continue execution. Figures 5 to 7 The examples described are the same or similar, and will not be repeated here.

[0095] The four-way shuttle and the method for determining whether the load-bearing capacity of its pallet is abnormal, based on the lifting and lowering state of the pallet H and the load-bearing capacity of the first, second, third, and fourth positions, by the control module 20, determine whether the load-bearing capacity of the pallet H is empty when lifted and / or loaded when lowered. This can determine whether there is a situation of lost goods (i.e., no goods in the lifted state) or incorrect loading (i.e., goods in the lowered state). It can also eliminate the possibility of data errors in the warehouse management system (WMS), avoid secondary errors caused by data errors and goods collisions, and improve the robustness and reliability of the four-way shuttle.

[0096] Figures 5 to 7The embodiments describe the specific process of determining whether the load-bearing capacity of pallet H is abnormal based on the load-bearing capacity at different locations. In practical applications, the control module 20 can not only determine whether the load-bearing capacity of pallet H is abnormal, such as overload, off-center loading, lifting without load, or lowering with load, but also... Figures 5 to 7 The implementation example comprehensively detects the aforementioned multiple anomalies. In other words, Figures 5 to 7 Any step or sub-step in the embodiments can be freely combined according to the actual situation, and these are all within the protection scope of the present invention.

[0097] In some embodiments, step S12 further includes: issuing an alarm when an abnormal load-bearing condition is determined in the pallet H. For example, the control module 20 may include an alarm device (not shown in the figure), which may include components such as a buzzer, horn, indicator light, and display screen. When the control module 20 determines that the load-bearing condition of the pallet H is abnormal in one or more of the following: overload, off-center load, lifting without load, or lowering with load, it can control the alarm device to sound an alarm, and different types of abnormalities may have different alarm methods. It is understood that when the control module 20 determines that the load-bearing condition of the pallet H is not abnormal, it can also display and broadcast an alarm.

[0098] In some embodiments, the four-way shuttle can communicate with the server via the control module 20. The control module 20 can report the determination result of whether the load-bearing capacity of the pallet H is abnormal to the server.

[0099] The four-way shuttle and its method for determining whether the load-bearing capacity of its pallets is abnormal, as described in this invention, can detect the load-bearing capacity of different positions on the pallets in real time through multiple sensors in its built-in weighing module. Based on the load-bearing capacity of different positions on the pallets, it can determine whether the load-bearing capacity of the pallets is abnormal in real time. It supports the detection of various anomalies, including overload, off-center loading, lifting without load, and lowering with load. It can respond to events immediately, report the detection results to the server in real time, and control the operation of the four-way shuttle's actuators based on the anomaly determination results. Compared with existing technologies, this invention improves the accuracy, real-time performance, and convenience of detecting whether the load-bearing capacity of the pallets on the four-way shuttle is abnormal, and enhances the reliability and robustness of the four-way shuttle.

[0100] The present invention also provides a warehouse management system. Figure 8 A schematic diagram of a warehouse management system 700 according to some embodiments of the present invention is shown. Figure 8 As shown, the warehouse management system 700 includes a server 710 and four-way shuttles 100 / 200 as described above. The four-way shuttles 100 / 200 are communicatively connected to the server 710, and can execute any step, any embodiment, or combination thereof of the methods 300 / 400 / 500 / 600 as described above. Figures 1 to 8As shown, the control module 20 of the four-way shuttle 100 / 200 can report the determination result of whether the load-bearing capacity of the pallet H is abnormal to the server 710. The server 710 can control the operation of the four-way shuttle 100 / 200 based on the results reported by the four-way shuttle 100 / 200. It should be noted that the present invention does not limit the number of four-way shuttles in the warehouse management system, but depends on the actual situation.

[0101] The warehouse management system of the present invention, by adopting the above-mentioned four-way shuttle and the method for determining whether the load-bearing capacity of the pallet is abnormal, can determine whether the load-bearing capacity of the pallet is abnormal in real time, which can improve the accuracy and real-time performance of the detection results, and can eliminate the need for weighing modules or sensors during warehousing, thereby improving the convenience, robustness and reliability of detection.

[0102] The present invention also provides a computer-readable storage medium including computer-executable instructions stored thereon, wherein the executable instructions, when executed by a processor, perform the methods 300 / 400 / 500 / 600 as described above.

[0103] In some embodiments, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used or combined with an instruction execution system, apparatus, or device. Computer-readable storage media include, but are not limited to, electrical, magnetic, optical, or semiconductor forms or devices, and more specific examples (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer hard disk, a hard disk drive, random access memory (RAM), non-volatile random access memory (NVRAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0104] In some embodiments, the methods 300 / 400 / 500 / 600 of this disclosure may exist in the form of program code. The program code may be contained in a physical medium, such as a floppy disk, optical disk, hard disk, or any other machine-readable (e.g., computer-readable) storage medium, or may be a computer program product in an external form, wherein when the program code is loaded and executed by a machine, such as a computer, that machine becomes an apparatus for participating in this disclosure. The program code may also be transmitted via some transmission medium, such as wires or cables, optical fibers, or any transmission method, wherein when the program code is received, loaded, and executed by a machine, such as a computer, that machine becomes an apparatus for participating in this disclosure. When actually operated in a general-purpose processing unit, the program code, in conjunction with the processing unit, provides a unique apparatus that operates similarly to application-specific logic circuitry.

[0105] In some embodiments, the control module / processor may include a central processing unit (CPU), a micro control unit (MCU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or similar devices.

[0106] It should be noted that this specification provides the operational steps of the methods described in the embodiments or diagrams, but based on conventional or non-inventive labor, more or fewer operational steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only execution order. In actual system or device products, the methods shown in the embodiments or flowcharts can be executed sequentially or in parallel.

[0107] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A four-way shuttle vehicle, comprising: freight forwarding; The weighing module includes multiple pressure sensors located at different positions on the pallet and configured to measure the load-bearing capacity at different positions on the pallet. and The control module, coupled to the weighing module, is configured to determine whether the load on the pallet is abnormal based on the load at different positions of the pallet. The plurality of pressure sensors include a first pressure sensor, a second pressure sensor, a third pressure sensor, and a fourth pressure sensor. The first pressure sensor is disposed at a first position on the cargo pallet and is used to measure the load-bearing capacity at the first position. The second pressure sensor is disposed at a second position on the cargo pallet and is used to measure the load-bearing capacity at the second position. The third pressure sensor is disposed at a third position on the cargo pallet and is used to measure the load-bearing capacity at the third position. The fourth pressure sensor is disposed at a fourth position on the cargo pallet and is used to measure the load-bearing capacity at the fourth position. The control module is configured to determine the sum of the loads at the first, second, third, and fourth positions, and to determine the lifting state of the pallet. When the pallet is determined to be in the lifting state, the module determines whether the sum of the loads is less than or equal to a third threshold to determine whether the pallet in the lifting state is unloaded.

2. The four-way shuttle vehicle according to claim 1 further includes: An actuator is coupled to the control module, which is configured to control the operation of the actuator based on a determination of whether the load on the pallet is abnormal.

3. The four-way shuttle according to claim 1, wherein the abnormal load-bearing condition of the cargo pallet includes one or more of overloading, off-center loading, lifting without load, and lowering with load.

4. The four-way shuttle according to any one of claims 1-3, wherein the cargo pallet has a rectangular shape, the first and third positions are symmetrical about the center of the cargo pallet, and the second and fourth positions are symmetrical about the center of the cargo pallet; the first, second, third, and fourth positions form the four vertices of a parallelogram, rhombus, rectangle, or square.

5. The four-way shuttle according to any one of claims 1-3, wherein the control module is configured to determine the sum of the loads at the first position, the second position, the third position, and the fourth position, and to determine whether the sum of the loads is greater than or equal to a first threshold, so as to determine whether the load on the pallet is overloaded, wherein the first threshold is greater than a third threshold.

6. The four-way shuttle according to any one of claims 1-3, wherein the control module is configured to determine the maximum and minimum values ​​of the load at the first position, the second position, the third position and the fourth position, and to determine whether the difference between the maximum and the minimum values ​​is greater than or equal to a second threshold, so as to determine whether the load on the pallet is unevenly loaded, wherein the second threshold is less than the first threshold.

7. The four-way shuttle according to any one of claims 1-3, wherein the control module is configured to determine the sum of the loads at the first position, the second position, the third position, and the fourth position, and to determine the lifting state of the pallet; when it is determined that the pallet is in a lowering state, it determines whether the sum of the loads is greater than or equal to a fourth threshold, so as to determine whether the pallet in the lowering state is loaded, wherein the fourth threshold is less than the first threshold.

8. The four-way shuttle according to claim 2, wherein the control module is configured to control the actuator to decelerate when it determines that the pallet is overloaded and / or unbalanced.

9. The four-way shuttle according to claim 2, wherein the control module is configured to control the actuator to stop moving when it determines that the cargo pallet is raised empty and / or lowered with a load.

10. The four-way shuttle according to claim 1 or 2, wherein the control module is configured to issue an alarm when it determines that the load-bearing capacity of the pallet is abnormal.

11. The four-way shuttle according to any one of claims 1-3, wherein the pressure sensor comprises at least one of a spoke-type force sensor or a thin-film pressure sensor.

12. A method for determining whether the load-bearing capacity of a cargo pallet on a four-way shuttle is abnormal, comprising: S11: The load-bearing capacity at different locations on the pallet is measured by multiple pressure sensors located at different locations on the pallet; and S12: Based on the load-bearing capacity at different locations of the pallet, determine whether the load-bearing capacity of the pallet is abnormal; The plurality of pressure sensors include a first pressure sensor, a second pressure sensor, a third pressure sensor, and a fourth pressure sensor. The first pressure sensor is disposed at a first position on the pallet, the second pressure sensor is disposed at a second position on the pallet, the third pressure sensor is disposed at a third position on the pallet, and the fourth pressure sensor is disposed at a fourth position on the pallet. Step S11 includes: measuring the load-bearing capacity at the first position using the first pressure sensor, measuring the load-bearing capacity at the second position using the second pressure sensor, measuring the load-bearing capacity at the third position using the third pressure sensor, and measuring the load-bearing capacity at the fourth position using the fourth pressure sensor. Step S12 includes: determining the total load of the first position, the second position, the third position and the fourth position, and determining the lifting state of the pallet. When it is determined that the pallet is in the lifting state, it is determined whether the total load is less than or equal to a third threshold, so as to determine whether the pallet in the lifting state is empty.

13. The method of claim 12, further comprising: S13: Based on the determination of whether the load-bearing capacity of the cargo pallet is abnormal, control the operation of the actuator of the four-way shuttle.

14. The method according to claim 12, wherein the abnormal load-bearing condition of the pallet includes one or more of overloading, off-center loading, lifting without load, and lowering with load.

15. The method according to any one of claims 12-14, wherein the shape of the pallet includes a rectangle, the first position and the third position are symmetrical about the center of the pallet, and the second position and the fourth position are symmetrical about the center of the pallet; the first position, the second position, the third position and the fourth position form the four vertices of a parallelogram, a rhombus, a rectangle or a square.

16. The method according to any one of claims 12-14, wherein step S12 comprises: The sum of the loads at the first, second, third, and fourth positions is determined, and it is determined whether the sum of the loads is greater than or equal to a first threshold, so as to determine whether the load on the pallet is overloaded. The first threshold is greater than a third threshold.

17. The method according to any one of claims 12-14, wherein step S12 comprises: The maximum and minimum load values ​​of the first, second, third, and fourth positions are determined, and it is determined whether the difference between the maximum and minimum values ​​is greater than or equal to a second threshold, so as to determine whether the load of the cargo pallet is unbalanced. The second threshold is less than the first threshold.

18. The method according to any one of claims 12-14, wherein step S12 comprises: The total load of the first, second, third, and fourth positions is determined, and the lifting state of the pallet is determined. When the pallet is determined to be in a lowering state, it is determined whether the total load is greater than or equal to a fourth threshold, so as to determine whether the pallet in the lowering state is loaded. The fourth threshold is less than the first threshold.

19. The method of claim 13, wherein step S13 comprises: When it is determined that the pallet is overloaded and / or unbalanced, the actuator is controlled to decelerate.

20. The method of claim 13, wherein step S13 comprises: When it is determined that the pallet is raised empty or lowered with a load, the actuator is controlled to stop moving.

21. The method according to claim 12 or 13, wherein step S12 comprises: An alarm is triggered when an abnormal load-bearing capacity is detected in the cargo pallet; The determination result of whether the load-bearing capacity of the cargo pallet is abnormal is reported to the server.

22. The method according to any one of claims 12-14, wherein the pressure sensor comprises at least one of a spoke-type force sensor or a thin-film pressure sensor.

23. A warehouse management system, comprising: server; and The four-way shuttle as described in any one of claims 1-11 is communicatively connected to the server and configured to perform the method as described in any one of claims 12-22.

24. A computer-readable storage medium comprising computer-executable instructions stored thereon, the executable instructions, when executed by a processor, performing the method as described in any one of claims 12-22.

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