Intelligent inbound and outbound management system and method for stereoscopic warehouse

Abstract

The invention discloses an intelligent in-and-out storage management system and method for a stereoscopic warehouse, relates to the field of stereoscopic warehouses, solves the problem of low storage space utilization in stereoscopic warehouses, comprises a cargo weighing module, a space monitoring module, a space screening module, a load-bearing monitoring module, a load-bearing analysis module, a dispatching terminal and a tally terminal, wherein the cargo weighing module is used for weighing and measuring the specifications of scheduled storage goods, the space monitoring module is used for monitoring the storage area, the space screening module is used for screening the storage space matching the goods to be stored, the dispatching terminal is used for dispatching transportation equipment to complete the cargo storage operation, the load-bearing monitoring module is used for monitoring the weight distribution of the stacked goods in each storage space, the load-bearing analysis module is used for analyzing the center of gravity of the stacked goods in the storage space, and the tally terminal is used for adjusting the placement of the stacked goods, and the invention realizes intelligent matching of storage positions and goods and efficient utilization of storage space.

Description

Technical Field

[0001] The invention belongs to the field of stereoscopic warehouses, and relates to a storage-in and storage-out management technology, and specifically is an intelligent storage-in and storage-out management system and method for stereoscopic warehouses. Background Art

[0002] A high-bay warehouse is a type of warehouse that uses vertical stacking technology to maximize the use of vertical space. It usually uses automated equipment such as automatic stackers, conveyor belts and robots to achieve efficient storage and retrieval of goods. The design of a high-bay warehouse usually takes into account maximizing storage capacity, minimizing the distance and time of goods handling, and providing real-time inventory visualization. Inbound and outbound management requires tracking and managing the inbound and outbound processes of goods, optimizing the storage and retrieval paths of goods, providing real-time inventory monitoring and early warning, and generating analytical reports and providing decision support. Through intelligent inbound and outbound management, high-bay warehouses will achieve efficient goods flow, reduce human errors and losses, and improve work efficiency.

[0003] Under the current technical background, the storage space of the stereoscopic warehouse has greatly improved the utilization rate of the vertical space in the warehouse. However, in the process of goods warehousing and goods stacking, there are problems such as the mismatch between the goods stacking position and the goods safety storage requirements, and the low utilization rate of the storage space. Therefore, how to intelligently match the storage position with the goods to maximize the utilization of the storage space is the key issue;

[0004] To this end, we propose an intelligent inbound and outbound storage management system and method for a three-dimensional warehouse. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention aims to provide an intelligent in-and-out storage management system and method for a stereoscopic warehouse.

[0006] The technical problems to be solved by the present invention are:

[0007] How to intelligently match storage locations with goods to achieve efficient use of storage space.

[0008] The purpose of the present invention can be achieved through the following technical solutions:

[0009] In a first aspect, an intelligent in-and-out storage management system for a stereoscopic warehouse includes a cargo weighing module, a space monitoring module, a space screening module, a load-bearing monitoring module, a load-bearing analysis module, a dispatching terminal, a tally terminal, and a server, wherein the cargo weighing module is used to weigh and measure the specifications of the cargo scheduled to be stored, and obtain cargo specification data of the cargo to be stored, and the cargo specification data is sent to the space screening module through the server; the space monitoring module is used to monitor the storage area in real time, and obtain real-time storage information of each storage space, and the real-time storage information is sent to the space screening module through the server;

[0010] The space screening module is used to screen the storage space matching the goods to be stored, and obtain the storage target location of the goods to be stored. The storage target location of the goods to be stored is sent to the dispatching terminal through the server, and the dispatching terminal is used to dispatch the transportation equipment to transport the goods to be stored to the storage target location to complete the goods storage operation;

[0011] The load-bearing monitoring module is used to monitor the weight distribution of the stacked goods in each storage space, and obtain the real-time load-bearing value of the quadrant of each storage space, and the real-time load-bearing value of the quadrant of each storage space is sent to the load-bearing analysis module through the server; the load-bearing analysis module is used to analyze the center of gravity of the stacked goods in the storage space, and generate a normal stacking signal or an abnormal stacking signal, and the normal stacking signal or the abnormal stacking signal is sent to the tallying terminal through the server; if the tallying terminal receives an abnormal stacking signal, it controls the tallying equipment to go to the corresponding storage space to adjust the placement of the stacked goods, and if the tallying terminal receives a normal stacking signal, it does not perform any operation.

[0012] Furthermore, the cargo specification data includes the cargo space length, cargo space width, cargo space height, actual cargo mass and cargo fragility coefficient of the cargo to be stored;

[0013] Real-time storage information includes the space type, load-bearing critical value, real-time space load-bearing value, space boundary coordinates and cargo edge coordinates of each storage space.

[0014] Furthermore, the monitoring process of the space monitoring module is as follows:

[0015] Divide a number of multi-layer shelves in the storage area of ​​the stereoscopic warehouse into a number of storage spaces according to the shelf layers, and divide the storage spaces into lower storage spaces, middle storage spaces and upper storage spaces according to the heights of the shelf storage layers;

[0016] A spatial rectangular coordinate system is constructed with the bottom center of the storage space as the origin to obtain the spatial boundary coordinates of the storage space and the edge coordinates of the goods.

[0017] Furthermore, the screening process of the space screening module includes:

[0018] Obtain the cargo space length HC, cargo space width HK, cargo space height HG, actual cargo mass HZ and cargo vulnerability coefficient YS of the cargo to be stored;

[0019] The stacking risk value FH of the goods to be stored is calculated by the formula, and the formula is as follows;

[0020] FH={HZ×s1+[HZ / (HC×HK×HG)]×s2}×YS;

[0021] Among them, s1 and s2 are weight coefficients with fixed values, the values ​​of s1 and s2 are both greater than zero and s1+s2=1;

[0022] Compare the stacking risk value of the goods to be stored with the stacking risk range;

[0023] If the stacking risk value belongs to the first stacking risk interval, the priority stacking position of the goods to be stored is the upper storage space;

[0024] If the stacking risk value belongs to the second stacking risk range, the priority stacking position of the goods to be stored is the middle storage space;

[0025] If the stacking risk value belongs to the third stacking risk interval, the priority stacking position for the goods to be stored in the warehouse is the lower storage space.

[0026] Furthermore, the values ​​of the first stacking risk interval are all smaller than the values ​​of the second stacking risk interval, the values ​​of the second stacking risk interval are all smaller than the values ​​of the third stacking risk interval, and the values ​​of the stacking risk interval are all greater than zero.

[0027] Furthermore, the screening process of the space screening module also includes:

[0028] Select the storage space of the corresponding space type according to the priority stacking position of the goods to be stored, and obtain the load-bearing critical value and real-time space load-bearing value of the corresponding storage space;

[0029] The estimated space load-bearing value of the storage space is calculated by adding the real-time space load-bearing value to the actual mass of the goods to be stored, and the estimated space load-bearing value of the storage space is compared with the load-bearing critical value;

[0030] If the estimated space value is greater than the critical load-bearing value, this storage space is screened out and another storage space is selected to repeat the comparison process;

[0031] If the estimated space value is less than or equal to the load-bearing critical value, the space boundary coordinates of the storage space and the edge coordinates of the goods are obtained.

[0032] Furthermore, the screening process of the space screening module also includes:

[0033] The used cells are obtained according to the cargo edge coordinates of the storage space, and one or more unused cells are obtained according to the space boundary coordinates, and the storage reserved length, storage reserved width and storage reserved height of each unused cell are obtained;

[0034] Compare the storage reserved length of the unused cells with the cargo space length of the goods to be stored;

[0035] If the value of the storage reserved length is less than the value of the cargo space length, this unused cell is filtered out and another unused cell is selected to repeat the comparison process;

[0036] If the value of the storage reserved length is greater than or equal to the value of the cargo space length, the storage reserved width of the unused cells is compared with the cargo space width of the cargo to be stored;

[0037] If the value of the storage reserved width is less than the value of the cargo space width, then this unused cell is filtered out and another unused cell is selected to repeat the comparison process;

[0038] If the value of the storage reserved width is greater than or equal to the value of the cargo space width, the storage reserved height of the unused cells is compared with the cargo space height of the cargo to be stored;

[0039] If the value of the storage reserved height is less than the value of the cargo space height, then this unused cell is filtered out and another unused cell is selected to repeat the comparison process;

[0040] If the value of the reserved storage height is greater than or equal to the value of the cargo space height, the storage space is selected as the storage target location for the cargo to be stored;

[0041] If all unused cells in the storage space are screened out, the storage space is screened out and another storage space is selected to repeat the comparison process.

[0042] Furthermore, the monitoring process of the load-bearing monitoring module is as follows:

[0043] A spatial rectangular coordinate system is constructed with the bottom center position of each storage space as the origin, and four quadrant spaces are obtained according to the quadrant distribution rule of the coordinate system, which are marked as the first quadrant space, the second quadrant space, the third quadrant space and the fourth quadrant space, respectively. The first quadrant space corresponds to the upper right area of ​​the coordinate system, the second quadrant space corresponds to the upper left area of ​​the coordinate system, the third quadrant space corresponds to the lower left area of ​​the coordinate system, and the fourth quadrant space corresponds to the lower right area of ​​the coordinate system;

[0044] The real-time load-bearing value of each quadrant in the storage space is obtained through the pressure sensor set at the bottom of each storage space.

[0045] Furthermore, the analysis process of the load-bearing analysis module is specifically as follows:

[0046] Obtain the first quadrant real-time bearing value XZⅠ, the first quadrant real-time bearing value XZⅡ, the first quadrant real-time bearing value XZⅢ and the first quadrant real-time bearing value XZⅣ of each storage space;

[0047] The center of gravity offset coefficient DP of the storage space is calculated according to the formula. The specific formula is as follows:

[0048] DP=|(XZⅠ+XZⅡ)-(XZⅢ+XZⅣ)|+|(XZⅠ+XZⅣ)-(XZⅡ+XZⅢ)|;

[0049] Compare the gravity center offset coefficient of the storage space with the gravity center offset range;

[0050] If the gravity center offset coefficient of the storage space belongs to the first gravity center offset interval, a normal stacking signal is generated;

[0051] If the gravity center offset coefficient of the storage space belongs to the second gravity center offset interval, a stacking abnormality signal is generated;

[0052] Among them, the values ​​of the first center of gravity offset interval and the second center of gravity offset interval are both greater than zero, and the values ​​of the first center of gravity offset interval are both smaller than the values ​​of the second center of gravity offset interval.

[0053] In a second aspect, an intelligent storage management method for a stereoscopic warehouse is provided, wherein the specific steps of the management method include:

[0054] Step S101, the cargo weighing module weighs and measures the specifications of the cargo scheduled to be stored, and obtains the cargo specification data of the cargo to be stored, and the space monitoring module monitors the storage area in real time to obtain the real-time storage information of each storage space;

[0055] Step S102: the space screening module screens the storage space matching the goods to be stored, obtains the storage target location of the goods to be stored, and the dispatching terminal dispatches the transportation equipment according to the storage target location to complete the goods storage operation;

[0056] Step S103, the load-bearing monitoring module monitors the weight distribution of the stacked goods in each storage space to obtain the real-time load-bearing value of each quadrant of the storage space, and the load-bearing analysis module analyzes the center of gravity of the stacked goods in the storage space to generate a normal stacking signal or an abnormal stacking signal;

[0057] Step S104: if the tallying terminal receives a stacking abnormality signal, the tallying device is controlled to go to the corresponding storage space to adjust the placement of the stacked goods; if the tallying terminal receives a stacking normal signal, no operation is performed.

[0058] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0059] 1. The present invention firstly weighs and measures the specifications of the scheduled goods to be stored through the cargo weighing module, obtains the cargo specification data of the goods to be stored and sends it to the space screening module, and also monitors the storage area in real time through the space monitoring module, obtains the real-time storage information of each storage space and sends it to the space screening module, and then uses the space screening module to screen the storage space matching the goods to be stored, obtains the storage target location of the goods to be stored and sends it to the dispatching terminal, and then the dispatching terminal dispatches the transportation equipment to transport the goods to be stored to the storage target location to complete the goods storage operation;

[0060] 2. The present invention also utilizes a load-bearing monitoring module to monitor the weight distribution of the stacked goods in each storage space, obtains the real-time load-bearing value of the quadrant of each storage space and sends it to the load-bearing analysis module, and analyzes the center of gravity of the stacked goods in the storage space through the load-bearing analysis module, generates a normal stacking signal or an abnormal stacking signal and sends it to the tallying terminal, and finally adjusts the placement of the stacked goods in the storage space through the tallying terminal. The present invention realizes intelligent matching of storage location and goods to maximize the utilization of storage space. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0062] Figure 1 is the overall system block diagram of the present invention;

[0063] Figure 2 It is a schematic diagram of the principle of the cargo weighing module in the present invention;

[0064] Figure 3 This is a working principle diagram of the space monitoring module in the present invention;

[0065] Figure 4 This is a schematic diagram of the operation of the space monitoring module in the present invention;

[0066] Figure 5 is another operation schematic diagram of the space monitoring module in the present invention;

[0067] Figure 6 It is a schematic diagram of the principle of the load-bearing monitoring module in the present invention;

[0068] Figure 7 The figure is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0069] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] Example 1: Please refer to Figure 1-Figure 6 ,The technical solution provided by the present invention is: an intelligent in-and-out storage management system for a stereoscopic warehouse, including a cargo weighing module, a space monitoring module, a space screening module, a load-bearing monitoring module, a load-bearing analysis module, a dispatching terminal, a tally terminal and a server;

[0071] In this embodiment, the three-dimensional warehouse is divided into a receiving area, a storage area and a picking area. The receiving area is a pre-preparation area for goods entering the warehouse, which is used to receive and inspect the goods. The storage area is the main area for storing goods. The picking area is a pre-preparation area for goods leaving the warehouse, which is used to pick goods and classify and pick the goods according to the requirements of the bill of lading.

[0072] See also Figure 2 As shown, the cargo weighing module is used to weigh and measure the specifications of the cargo scheduled to be stored. The cargo weighing process is as follows:

[0073] Obtain the cargo specification data of the cargo to be stored, which includes the cargo space length, cargo space width, cargo space height, actual cargo mass and cargo vulnerability coefficient of the cargo to be stored. In this embodiment, the receiving area of ​​the stereoscopic warehouse is equipped with weighing equipment and measuring equipment, and the actual cargo mass of the cargo to be stored is obtained through the weighing equipment, such as Figure 2 As shown, the cargo space length, cargo space width and cargo space height of the goods to be stored are obtained by measuring equipment. The cargo vulnerability coefficient reflects the vulnerability of the goods to be stored. It can be understood that the larger the value of the cargo vulnerability coefficient of the goods to be stored, the easier it is for the goods to be stored to be damaged due to bumps, squeezing and other factors;

[0074] The cargo weighing module sends the cargo specification data of the cargo to be stored to the server, and the server sends the cargo specification data of the cargo to be stored to the space screening module;

[0075] See also Figure 3-Figure 5 As shown, the space monitoring module is used to monitor the storage area in real time. The monitoring process is as follows:

[0076] In this embodiment, the storage area of ​​the stereoscopic warehouse is provided with a number of multi-layer shelves, and the storage area is divided into a number of storage spaces according to the shelf layers. Specifically, the storage space is divided into a lower storage space, a middle storage space and an upper storage space according to the height of the shelf storage layer. For example, if the shelf arranged in the storage area is a three-layer shelf, the first layer of the shelf is the lower storage space, the second layer of the shelf is the middle storage space, and the third layer of the shelf is the upper storage space;

[0077] Obtain the real-time storage information of each storage space, which includes the space type, load-bearing critical value, real-time space load-bearing value, space boundary coordinates and cargo edge coordinates of each storage space. The space type includes lower storage space, middle storage space and upper storage space. The load-bearing critical value is the maximum weight of the cargo that the storage space can bear, and the real-time space load-bearing value is the total weight of the cargo currently stacked in the storage space.

[0078] like Figure 3 As shown, the cargo edge coordinates are the coordinates of the edge points of the stacked cargo in the storage space. In this embodiment, a spatial rectangular coordinate system is constructed with the bottom center position of the storage space as the origin to obtain the spatial boundary coordinates of the storage space and the cargo edge coordinates;

[0079] The space monitoring module sends the real-time storage information of the storage space to the server, and the server sends the real-time storage information of the storage space to the space screening module;

[0080] The space screening module is used to screen the storage space that matches the goods to be stored. The space screening process is as follows:

[0081] Obtain the cargo space length HC, cargo space width HK, cargo space height HG, actual cargo mass HZ and cargo vulnerability coefficient YS of the cargo to be stored, and calculate the stacking risk value FH of the cargo to be stored according to the formula. The specific formula is as follows;

[0082] FH={HZ×s1+[HZ / (HC×HK×HG)]×s2}×YS;

[0083] Among them, s1 and s2 are weight coefficients with fixed values. The values ​​of s1 and s2 are both greater than zero and s1+s2=1. It should be specifically noted that the stacking risk value is used to reflect the storage location bias of the goods to be stored. The higher the stacking risk value of the goods to be stored, the more likely the goods with large mass, high density and fragile properties are to be stored in the lower storage space in the actual work process, which can prevent the goods from falling due to unstable shelves, thereby avoiding unnecessary damage to the goods.

[0084] Compare the stacking risk value of the goods to be stored with the stacking risk range;

[0085] If the stacking risk value belongs to the first stacking risk interval, the priority stacking position of the goods to be stored is the upper storage space;

[0086] If the stacking risk value belongs to the second stacking risk range, the priority stacking position of the goods to be stored is the middle storage space;

[0087] If the stacking risk value belongs to the third stacking risk range, the priority stacking position of the goods to be stored is the lower storage space;

[0088] Among them, the values ​​of the stacking risk intervals are all greater than zero, the values ​​of the first stacking risk interval are all smaller than the values ​​of the second stacking risk interval, and the values ​​of the second stacking risk interval are all smaller than the values ​​of the third stacking risk interval;

[0089] Filter the storage space of the corresponding space type according to the preferred stacking position of the goods to be stored. For example, if the preferred stacking position of the goods to be stored is the upper storage space, the filtered storage space includes the upper storage space, the middle storage space and the lower storage space. If the preferred stacking position of the goods to be stored is the middle storage space, the filtered storage space includes the middle storage space and the lower storage space.

[0090] Obtain the critical load-bearing value and real-time load-bearing value of the corresponding storage space;

[0091] The estimated space load-bearing value of the storage space is calculated by adding the real-time space load-bearing value to the actual mass of the goods to be stored, and the estimated space load-bearing value of the storage space is compared with the load-bearing critical value;

[0092] If the estimated space value is greater than the critical load-bearing value, this storage space is screened out and another storage space is selected to repeat the comparison process;

[0093] If the estimated space value is less than or equal to the load-bearing critical value, the space boundary coordinates of the storage space and the edge coordinates of the goods are obtained;

[0094] like Figure 4 and Figure 5 As shown, the used cells are obtained according to the cargo edge coordinates of the storage space, and one or more unused cells are obtained according to the space boundary coordinates, and the storage reserved length, storage reserved width and storage reserved height of each unused cell are obtained;

[0095] Compare the storage reserved length of the unused cells with the cargo space length of the goods to be stored;

[0096] If the value of the storage reserved length is less than the value of the cargo space length, this unused cell is filtered out and another unused cell is selected to repeat the comparison process;

[0097] If the value of the storage reserved length is greater than or equal to the value of the cargo space length, the storage reserved width of the unused cells is compared with the cargo space width of the cargo to be stored;

[0098] If the value of the storage reserved width is less than the value of the cargo space width, then this unused cell is filtered out and another unused cell is selected to repeat the comparison process;

[0099] If the value of the storage reserved width is greater than or equal to the value of the cargo space width, the storage reserved height of the unused cells is compared with the cargo space height of the cargo to be stored;

[0100] If the value of the storage reserved height is less than the value of the cargo space height, then this unused cell is filtered out and another unused cell is selected to repeat the comparison process;

[0101] If the value of the reserved storage height is greater than or equal to the value of the cargo space height, the storage space is selected as the storage target location for the cargo to be stored;

[0102] If all unused cells in the storage space are screened out, the storage space is screened out and another storage space is selected to repeat the comparison process;

[0103] The space screening module sends the storage target location of the goods to be stored to the server, and the server sends the storage target location of the goods to be stored to the scheduling terminal;

[0104] The dispatch terminal is used to dispatch transportation equipment to transport the goods to be stored to the storage target location to complete the goods storage operation. In the actual working process, the transportation equipment includes but is not limited to shuttles, stackers, forklifts, etc.

[0105] See also Figure 6 As shown, the load-bearing monitoring module is used to monitor the weight distribution of the stacked goods in each storage space. The monitoring process is as follows:

[0106] like Figure 6 As shown, a spatial rectangular coordinate system is constructed with the bottom center position of each storage space as the origin, and four quadrant spaces are obtained according to the quadrant distribution rule of the coordinate system, which are marked as the first quadrant space, the second quadrant space, the third quadrant space and the fourth quadrant space, wherein the first quadrant space corresponds to the upper right area of ​​the coordinate system, the second quadrant space corresponds to the upper left area of ​​the coordinate system, the third quadrant space corresponds to the lower left area of ​​the coordinate system, and the fourth quadrant space corresponds to the lower right area of ​​the coordinate system;

[0107] In this embodiment, the real-time load-bearing value XZi of each quadrant space in the storage space is obtained by a pressure sensor arranged at the bottom of each storage space, where i is the quadrant number, and the value of i includes Ⅰ, Ⅱ, Ⅲ and Ⅳ. For example, XZⅠ is the real-time load-bearing value of the first quadrant space in the storage space; it can be understood that the real-time load-bearing value of the quadrant reflects the weight distribution of the stacked goods in each quadrant space. According to Newton's third law, the pressure exerted by the stacked goods on each quadrant space can be equivalently replaced by the gravity exerted on the stacked goods in each quadrant space;

[0108] The load-bearing monitoring module sends the real-time load-bearing value of the quadrant of each storage space to the server, and the server sends the real-time load-bearing value of the quadrant of each storage space to the load-bearing analysis module;

[0109] The load-bearing analysis module is used to analyze the center of gravity of the stacked goods in the storage space. The analysis process is as follows:

[0110] Obtain the first quadrant real-time bearing value XZⅠ, the first quadrant real-time bearing value XZⅡ, the first quadrant real-time bearing value XZⅢ and the first quadrant real-time bearing value XZⅣ of each storage space;

[0111] The center of gravity offset coefficient DP of the storage space is calculated according to the formula. The specific formula is as follows:

[0112] DP=|(XZⅠ+XZⅡ)-(XZⅢ+XZⅣ)|+|(XZⅠ+XZⅣ)-(XZⅡ+XZⅢ)|;

[0113] Compare the gravity center offset coefficient of the storage space with the gravity center offset range;

[0114] If the gravity center offset coefficient of the storage space belongs to the first gravity center offset interval, a normal stacking signal is generated;

[0115] If the gravity center offset coefficient of the storage space belongs to the second gravity center offset interval, a stacking abnormality signal is generated;

[0116] Among them, the values ​​of the first center of gravity offset interval and the second center of gravity offset interval are both greater than zero, and the values ​​of the first center of gravity offset interval are all smaller than the values ​​of the second center of gravity offset interval. It can be understood that the center of gravity offset coefficient reflects the stacking characteristics of the stacked goods in the storage space. The larger the center of gravity offset coefficient, the more serious the left-right weight imbalance or the front-back weight imbalance of the stacked goods.

[0117] The load-bearing analysis module sends a normal stacking signal or an abnormal stacking signal to a server, and the server sends a normal stacking signal or an abnormal stacking signal to a tally terminal;

[0118] If the tallying terminal receives a stacking abnormality signal, it controls the tallying equipment to go to the corresponding storage space to adjust the placement of the stacked goods. If it receives a stacking normal signal, it does not perform any operation.

[0119] In this application, if corresponding calculation formulas appear, the above calculation formulas are all dimensionless and take their numerical calculations. The weight coefficients, proportional coefficients and other coefficients in the formulas are set to a result value obtained by quantifying each parameter. The size of the weight coefficient and the proportional coefficient can be determined as long as it does not affect the proportional relationship between the parameter and the result value.

[0120] Example 2: Please refer to Figure 7 As shown, based on another concept of the same invention, a smart in-and-out storage management method for a stereoscopic warehouse is now proposed, comprising the following steps:

[0121] Step S101, the cargo weighing module weighs and measures the specifications of the cargo scheduled to be stored, and obtains the cargo specification data of the cargo to be stored, and the space monitoring module monitors the storage area in real time to obtain the real-time storage information of each storage space;

[0122] Step S102: the space screening module screens the storage space matching the goods to be stored, obtains the storage target location of the goods to be stored, and the dispatching terminal dispatches the transportation equipment according to the storage target location to complete the goods storage operation;

[0123] Step S103, the load-bearing monitoring module monitors the weight distribution of the stacked goods in each storage space to obtain the real-time load-bearing value of each quadrant of the storage space, and the load-bearing analysis module analyzes the center of gravity of the stacked goods in the storage space to generate a normal stacking signal or an abnormal stacking signal;

[0124] Step S104: if the tallying terminal receives a stacking abnormality signal, the tallying device is controlled to go to the corresponding storage space to adjust the placement of the stacked goods; if the tallying terminal receives a stacking normal signal, no operation is performed.

[0125] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent inbound and outbound management system for a three-dimensional warehouse, characterized in that: It includes a cargo weighing module, a space monitoring module, a space screening module, a load-bearing monitoring module, a load-bearing analysis module, a dispatching terminal, a tally terminal and a server. The cargo weighing module is used to weigh and measure the specifications of the scheduled goods to be stored, and obtain the cargo specification data of the goods to be stored. The cargo specification data is sent to the space screening module through the server. The cargo specification data includes the cargo space length, cargo space width, cargo space height, actual cargo mass and cargo vulnerability coefficient of the goods to be stored. The cargo vulnerability coefficient is used to reflect the vulnerability of the goods to be stored. The larger the value of the cargo vulnerability coefficient of the goods to be stored, the easier it is for the goods to be stored to be damaged; the space monitoring module is used to monitor the storage area in real time to obtain real-time storage information of each storage space. The real-time storage information is sent to the space screening module through the server. The real-time storage information includes the space type, load-bearing critical value, real-time space load-bearing value, space boundary coordinates and cargo edge coordinates of each storage space; The space screening module is used to screen the storage space matching the goods to be stored, and obtain the storage target location of the goods to be stored. The storage target location of the goods to be stored is sent to the dispatching terminal through the server, and the dispatching terminal is used to dispatch the transportation equipment to transport the goods to be stored to the storage target location to complete the goods storage operation; The screening process of the spatial screening module includes: Obtain the cargo space length HC, cargo space width HK, cargo space height HG, actual cargo mass HZ and cargo vulnerability coefficient YS of the cargo to be stored; The stacking risk value FH of the goods to be stored is calculated by the formula, and the formula is as follows; FH={HZ×s1+[HZ / (HC×HK×HG)]×s2}×YS; Among them, s1 and s2 are weight coefficients with fixed values, the values ​​of s1 and s2 are both greater than zero and s1+s2=1; Compare the stacking risk value of the goods to be stored with the stacking risk range; If the stacking risk value belongs to the first stacking risk interval, the priority stacking position of the goods to be stored is the upper storage space; If the stacking risk value belongs to the second stacking risk range, the priority stacking position of the goods to be stored is the middle storage space; If the stacking risk value belongs to the third stacking risk range, the priority stacking position of the goods to be stored is the lower storage space; The load-bearing monitoring module is used to monitor the weight distribution of the stacked goods in each storage space, and obtain the real-time load-bearing value of the quadrant of each storage space, and the real-time load-bearing value of the quadrant of each storage space is sent to the load-bearing analysis module through the server; the load-bearing analysis module is used to analyze the center of gravity of the stacked goods in the storage space, and generate a normal stacking signal or an abnormal stacking signal, and the normal stacking signal or the abnormal stacking signal is sent to the tallying terminal through the server; if the tallying terminal receives an abnormal stacking signal, it controls the tallying equipment to go to the corresponding storage space to adjust the placement of the stacked goods, and if the tallying terminal receives a normal stacking signal, it does not perform any operation.

2. The intelligent inbound and outbound management system for a stereoscopic warehouse according to claim 1 is characterized in that: The monitoring process of the space monitoring module is as follows: Divide a number of multi-layer shelves in the storage area of ​​the stereoscopic warehouse into a number of storage spaces according to the shelf layers, and divide the storage spaces into lower storage spaces, middle storage spaces and upper storage spaces according to the heights of the shelf storage layers; A spatial rectangular coordinate system is constructed with the bottom center of the storage space as the origin to obtain the spatial boundary coordinates of the storage space and the edge coordinates of the goods.

3. The intelligent inbound and outbound management system for a stereoscopic warehouse according to claim 1 is characterized in that: The values ​​of the first stacking risk interval are all smaller than the values ​​of the second stacking risk interval, the values ​​of the second stacking risk interval are all smaller than the values ​​of the third stacking risk interval, and the values ​​of the stacking risk interval are all greater than zero.

4. The intelligent inbound and outbound management system for a stereoscopic warehouse according to claim 1 is characterized in that: The screening process of the spatial screening module also includes: Select the storage space of the corresponding space type according to the priority stacking position of the goods to be stored, and obtain the load-bearing critical value and real-time space load-bearing value of the corresponding storage space; The estimated space load-bearing value of the storage space is calculated by adding the real-time space load-bearing value to the actual mass of the goods to be stored, and the estimated space load-bearing value of the storage space is compared with the load-bearing critical value; If the estimated space value is greater than the critical load-bearing value, this storage space is screened out and another storage space is selected to repeat the comparison process; If the estimated space value is less than or equal to the load-bearing critical value, the space boundary coordinates of the storage space and the edge coordinates of the goods are obtained.

5. The intelligent inbound and outbound management system for a stereoscopic warehouse according to claim 4 is characterized in that: The screening process of the spatial screening module also includes: The used cells are obtained according to the cargo edge coordinates of the storage space, and one or more unused cells are obtained according to the space boundary coordinates, and the storage reserved length, storage reserved width and storage reserved height of each unused cell are obtained; Compare the storage reserved length of the unused cells with the cargo space length of the goods to be stored; If the value of the storage reserved length is less than the value of the cargo space length, this unused cell is filtered out and another unused cell is selected to repeat the comparison process; If the value of the storage reserved length is greater than or equal to the value of the cargo space length, the storage reserved width of the unused cells is compared with the cargo space width of the cargo to be stored; If the value of the storage reserved width is less than the value of the cargo space width, then this unused cell is filtered out and another unused cell is selected to repeat the comparison process; If the value of the storage reserved width is greater than or equal to the value of the cargo space width, the storage reserved height of the unused cells is compared with the cargo space height of the cargo to be stored; If the value of the storage reserved height is less than the value of the cargo space height, then this unused cell is filtered out and another unused cell is selected to repeat the comparison process; If the value of the reserved storage height is greater than or equal to the value of the cargo space height, the storage space is selected as the storage target location for the cargo to be stored; If all unused cells in the storage space are screened out, the storage space is screened out and another storage space is selected to repeat the comparison process.

6. The intelligent inbound and outbound management system for a stereoscopic warehouse according to claim 1 is characterized in that: The monitoring process of the load-bearing monitoring module is as follows: A spatial rectangular coordinate system is constructed with the bottom center position of each storage space as the origin, and four quadrant spaces are obtained according to the quadrant distribution rule of the coordinate system, which are marked as the first quadrant space, the second quadrant space, the third quadrant space and the fourth quadrant space, respectively. The first quadrant space corresponds to the upper right area of ​​the coordinate system, the second quadrant space corresponds to the upper left area of ​​the coordinate system, the third quadrant space corresponds to the lower left area of ​​the coordinate system, and the fourth quadrant space corresponds to the lower right area of ​​the coordinate system; The real-time load-bearing value of each quadrant in the storage space is obtained through the pressure sensor set at the bottom of each storage space.

7. The intelligent in-and-out storage management system for a stereoscopic warehouse according to claim 6 is characterized in that: The analysis process of the load-bearing analysis module is as follows: Obtain the first quadrant real-time bearing value XZⅠ, the first quadrant real-time bearing value XZⅡ, the first quadrant real-time bearing value XZⅢ and the first quadrant real-time bearing value XZⅣ of each storage space; The center of gravity offset coefficient DP of the storage space is calculated according to the formula. The specific formula is as follows: DP=|(XZⅠ+XZⅡ)-(XZⅢ+XZⅣ)|+|(XZⅠ+XZⅣ)-(XZⅡ+XZⅢ)|; Compare the gravity center offset coefficient of the storage space with the gravity center offset range; If the gravity center offset coefficient of the storage space belongs to the first gravity center offset interval, a normal stacking signal is generated; If the gravity center offset coefficient of the storage space belongs to the second gravity center offset interval, a stacking abnormality signal is generated; Among them, the values ​​of the first center of gravity offset interval and the second center of gravity offset interval are both greater than zero, and the values ​​of the first center of gravity offset interval are both smaller than the values ​​of the second center of gravity offset interval.

8. An intelligent in-and-out storage management method for a stereoscopic warehouse, characterized in that: According to an intelligent inbound and outbound management system for a stereoscopic warehouse according to any one of claims 1 to 7, the specific steps of the management method include: Step S101, the cargo weighing module weighs and measures the specifications of the cargo scheduled to be stored, and obtains the cargo specification data of the cargo to be stored, and the space monitoring module monitors the storage area in real time to obtain the real-time storage information of each storage space; Step S102: the space screening module screens the storage space matching the goods to be stored, obtains the storage target location of the goods to be stored, and the dispatching terminal dispatches the transportation equipment according to the storage target location to complete the goods storage operation; Step S103, the load-bearing monitoring module monitors the weight distribution of the stacked goods in each storage space to obtain the real-time load-bearing value of each quadrant of the storage space, and the load-bearing analysis module analyzes the center of gravity of the stacked goods in the storage space to generate a normal stacking signal or an abnormal stacking signal; Step S104: if the tallying terminal receives a stacking abnormality signal, the tallying device is controlled to go to the corresponding storage space to adjust the placement of the stacked goods; if the tallying terminal receives a stacking normal signal, no operation is performed.

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