A tire adjustment method and system based on four-way shuttle vehicle

Abstract

The present invention discloses a tire adjustment method and system based on a four-way shuttle, and relates to the field of intelligent warehousing technology. The method comprises: calculating the maintenance cycle of each tire batch, and adding tire batch data whose shelf time exceeds the maintenance cycle to a maintenance queue; selecting an idle four-way shuttle for each tire batch to be maintained in the maintenance queue; each selected four-way shuttle completes the adjustment work of each tire batch to be maintained in parallel according to a preset adjustment angle; and statistically analyzing the deformation rate of the tire under different adjustment angles, and providing the optimal adjustment angle for the adjustment work of the tire batch according to the statistical results. The four-way shuttle can flexibly shuttle in the warehouse without being restricted by space. Based on the regular rotation of the tire by the four-way shuttle, it can ensure that all parts of the tire are evenly stressed, and avoid deformation or increased wear of a certain area due to long-term pressure.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing technology, and in particular to a tire adjustment method and system based on a four-way shuttle vehicle. Background Art

[0002] In a warehouse environment, tires are important storage materials. If they remain stationary for a long time, they will often lead to a series of adverse effects, the most notable of which is tire deformation. Tires are made of complex materials such as multiple layers of rubber, fabric cords or steel wire layers. These materials will gradually deform under the action of gravity or pressure in a single direction for a long time, especially when the tire is in a non-inflated or low-pressure state, the deformation phenomenon is more obvious.

[0003] In order to effectively prevent and alleviate the tire deformation caused by long-term static storage, regular tire rotation has become a key maintenance measure. The purpose of rotating tires is to evenly distribute the stress on various parts of the tire to avoid a specific area from being subjected to excessive pressure for a long time, thereby slowing down the aging, fatigue and deformation of the material. The four-way shuttle can move between the shelves. If the four-way shuttle can be used to automatically rotate the tires regularly, the above problems can be perfectly solved. Summary of the invention

[0004] The present invention provides a tire adjustment method based on a four-way shuttle vehicle, comprising:

[0005] Step 1: Calculate the maintenance cycle of each tire batch and add the tire batch data that has been shelved for longer than the maintenance cycle to the maintenance queue;

[0006] Step 2, selecting an idle four-way shuttle vehicle for each tire batch to be maintained in the maintenance queue;

[0007] Step 3, each selected four-way shuttle vehicle completes the adjustment work of each batch of tires to be maintained in parallel according to the preset adjustment angle;

[0008] Step 4. After the adjustment work is completed, the selected four-way shuttle is released, and the last adjustment date field in the tire batch data is updated;

[0009] Step 5: Count the deformation rates of tires at different adjustment angles, and provide the optimal adjustment angle for the adjustment of the tire batch based on the statistical results.

[0010] The tire adjustment method based on the four-way shuttle as described above, wherein the maintenance cycle of each tire batch is calculated, and the tire batch data whose shelf time exceeds the maintenance cycle is added to the maintenance queue, specifically includes the following sub-steps:

[0011] Count the shelf time of each batch of tires according to the tire batch data stored in the database;

[0012] Use the maintenance cycle calculation formula to calculate the maintenance cycle of each batch of tires;

[0013] According to the comparison result of the storage time of each batch of tires and the maintenance cycle, the data of the tire batches that need maintenance this time are queried and added to the maintenance queue in sequence.

[0014] The tire adjustment method based on the four-way shuttle as described above, wherein each tire batch to be maintained in the maintenance queue selects an idle four-way shuttle, specifically comprising the following sub-steps:

[0015] Traverse the maintenance queue and count the distance between the target location of the current delivery task of each four-way shuttle and the storage location of the current batch of tires to be maintained;

[0016] Select the four-way shuttle vehicle with the shortest travel distance as the maintenance vehicle for the current batch of tires to be maintained;

[0017] Send the tire batch data to be maintained to the selected four-way shuttle.

[0018] The tire adjustment method based on the four-way shuttle vehicle as described above, wherein each selected four-way shuttle vehicle completes the adjustment work of each batch of tires to be maintained in parallel according to a preset adjustment angle, specifically includes the following sub-steps:

[0019] Preset different adjustment angles for each batch of tires to be maintained;

[0020] After the four-way shuttle vehicle arrives at the storage location of the batch of tires to be maintained, it adjusts the placement angles of the tires included in the batch in turn according to the preset adjustment angles;

[0021] Add the adjustment angle used in this adjustment to the tire batch data.

[0022] The tire adjustment method based on the four-way shuttle vehicle as described above, wherein the deformation rate of the tire under different adjustment angles is counted, and the optimal adjustment angle is provided for the adjustment of the tire batch according to the statistical results, specifically comprising the following sub-steps:

[0023] Regularly sample and measure the shape data of tires at different adjustment angles;

[0024] Calculate the deformation rate of the tire at different adjustment angles based on the measurement results;

[0025] The adjustment angle with the smallest tire deformation rate is selected as the optimal adjustment angle and adopted in the next adjustment work.

[0026] The present invention also provides a tire adjustment system based on a four-way shuttle vehicle, comprising: a data storage module, an adjustment task detection module, an adjustment task issuing module, an adjustment task execution module, and an adjustment angle updating module;

[0027] A data storage module, used for storing tire batch data;

[0028] An adjustment task detection module is used to detect whether the shelf time of each tire batch exceeds the maintenance cycle, and generate an adjustment task for the tire batch that exceeds the maintenance cycle;

[0029] Adjust the task delivery module to select an idle four-way shuttle for each tire batch to be maintained in the maintenance queue;

[0030] The adjustment task execution module is used to complete the adjustment work of each batch of tires to be maintained in parallel;

[0031] The adjustment angle update module is used to count the deformation rates of tires at different adjustment angles and provide the optimal adjustment angle for the adjustment of tire batches based on the statistical results.

[0032] In the tire adjustment system based on the four-way shuttle vehicle as described above, the adjustment task detection module includes: a shelving time statistics submodule, a maintenance cycle calculation submodule, and an adjustment task generation submodule;

[0033] The shelf time statistics submodule is used to count the shelf time of each batch of tires according to the stored tire batch data;

[0034] A maintenance cycle calculation submodule, used to calculate the maintenance cycle of each batch of tires using a maintenance cycle calculation formula;

[0035] The adjustment task generation submodule is used to query the data of the tire batches that need maintenance this time according to the comparison result of the shelf time of each batch of tires with the maintenance cycle, and add them to the maintenance queue in sequence.

[0036] In the tire adjustment system based on the four-way shuttle vehicle as described above, the adjustment task issuing module includes: a travel distance statistics submodule, a four-way shuttle vehicle selection submodule;

[0037] The travel distance statistics submodule is used to traverse the maintenance queue and count the travel distance between the target location of the current delivery task of each four-way shuttle vehicle and the storage location of the current batch of tires to be maintained;

[0038] The four-way shuttle selection submodule is used to select the four-way shuttle with the shortest travel distance as the maintenance vehicle for the current batch of tires to be maintained.

[0039] A tire adjustment system based on a four-way shuttle as described above, wherein the adjustment task execution module includes: an adjustment angle preset submodule, a tire placement angle adjustment submodule;

[0040] An adjustment angle presetting submodule is used to presetting different adjustment angles for each tire batch to be maintained;

[0041] The tire placement angle adjustment submodule is used to sequentially adjust the placement angles of the tires included in the tire batch to be maintained according to preset adjustment angles.

[0042] A tire adjustment system based on a four-way shuttle as described above, wherein the adjustment angle update module includes: a shape data measurement submodule, a deformation rate calculation submodule, and an optimal adjustment angle preset submodule;

[0043] The shape data measurement submodule is used to periodically sample and measure the shape data of the tire at different adjustment angles;

[0044] A deformation rate calculation submodule is used to calculate the deformation rate of the tire at different adjustment angles according to the measurement results;

[0045] The optimal adjustment angle preset submodule is used to select the adjustment angle with the smallest tire deformation rate as the optimal adjustment angle and adopt it in the next adjustment work.

[0046] The beneficial effects achieved by the present invention are as follows: the four-way shuttle can shuttle flexibly in the warehouse without being restricted by space. Based on the regular rotation of the tires by the four-way shuttle, it can ensure that all parts of the tire are evenly stressed, avoiding deformation or increased wear of a certain area due to long-term pressure, and also reducing the cost of manual maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0048] Figure 1 It is a flow chart of a tire adjustment method based on a four-way shuttle vehicle provided in Example 1 of the present application;

[0049] Figure 2 This is a schematic diagram of a tire adjustment system based on a four-way shuttle provided in Example 2 of the present application. DETAILED DESCRIPTION

[0050] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0051] Embodiment 1

[0052] like Figure 1 As shown, the first embodiment of the present application provides a tire adjustment method based on a four-way shuttle vehicle, comprising:

[0053] Step S10: Calculate the maintenance cycle of each tire batch, and add tire batch data whose shelf life exceeds the maintenance cycle to a maintenance queue;

[0054] First, you need to prepare a database to store the storage date, storage batch, last adjustment date, last adjustment angle, and storage location fields of each batch of tires. According to these tire batch data, the storage time is counted, and then the maintenance cycle calculation formula is used to calculate the tire maintenance cycle. Finally, it is determined whether the tire needs maintenance. Specifically:

[0055] Step S11: Counting the shelf time of each batch of tires according to the tire batch data stored in the database;

[0056] The statistical method is: determine whether the last adjustment date is empty. If it is empty, the shelving period is the number of days between the current date and the warehousing date. If it is not empty, the shelving period is the number of days between the current date and the last adjustment date.

[0057] Step S12: Calculate the maintenance period of each batch of tires using the maintenance period calculation formula;

[0058] There are two types of factors that affect the tire maintenance cycle: external factors and internal factors. External factors refer to storage conditions (such as temperature and humidity) and placement conditions (whether there is packaging, whether it is stacked, etc.), while internal factors refer to the durability of the tire itself. The maintenance cycle created by combining these factors is The calculation formula is expressed as:

[0059] ,in is the durability coefficient of the tire material, is the value of the kth storage condition, is the influence weight of the kth storage condition on tire deformation, k ranges from 1 to W, W is the total number of storage conditions, is the initial mass coefficient of the tire, is the influence coefficient of the dth placement condition on the tire deformation rate, is the duration of the dth placement condition, d takes values ​​from 1 to D, and D is the total number of placement conditions. is the natural aging rate of the tire.

[0060] Step S13: According to the comparison result between the storage time of each batch of tires and the maintenance cycle, query the data of the batches of tires that need maintenance this time, and add them to the maintenance queue in sequence;

[0061] If the shelf time of a batch of tires exceeds the maintenance cycle of the batch of tires, it is necessary to query the detailed tire batch data from the database according to the batch number and add it to the maintenance queue.

[0062] Step S20: selecting an idle four-way shuttle vehicle for each tire batch to be maintained in the maintenance queue;

[0063] Adjusting the placement angle of the tire is an operation performed after the four-way vehicle lifts the pallet on the cargo position. This limits the four-way vehicle that performs maintenance to be idle. The four-way shuttle vehicle flexibly shuttles on the shelves of the warehouse to transport goods. If it is detected that a shuttle vehicle currently has no transportation task, that is, it is idle, then the shuttle vehicle is directly used to adjust each batch of tires to be maintained in the maintenance queue. If all four-way shuttle vehicles currently have their own transportation tasks, then considering the efficiency issue, each batch of tires to be maintained in the maintenance queue can be assigned to different shuttle vehicles to complete this maintenance in parallel, thereby reducing the shuttle vehicle's occupancy time. Specifically:

[0064] Step S21: traverse the maintenance queue and count the travel distance between the target position of the current transport task of each four-way shuttle vehicle and the storage position of the current batch of tires to be maintained;

[0065] It is known that a four-way shuttle vehicle will be in an empty state, that is, idle state, after completing a transportation task. The vehicle can be used to adjust the tires. Considering that selecting the vehicle closest to the tires to perform the adjustment will save a certain amount of travel time and further improve the maintenance rate, it is necessary to count the travel distance between the target position of the current transportation task of each four-way shuttle vehicle and the storage location of the current batch of tires to be maintained. The statistical work of the travel distance is completed by the upstream WCS system. During the actual operation of the shuttle vehicle, the distance to be moved by the shuttle vehicle is determined by the distance between the starting point and the target point. The upstream WCS system can configure the XY axis coordinate offset between the points, and then query which points are between the starting point and the end point, and then accumulate the offset of the points to get the final travel distance.

[0066] Step S22: Selecting the four-way shuttle vehicle with the shortest travel distance as the maintenance vehicle for the current batch of tires to be maintained;

[0067] Step S23: Sending the tire batch data to be maintained to the selected four-way shuttle vehicle;

[0068] The tire batch data includes the batch number of the current tire batch and the location where each tire is stored.

[0069] Step S30: Each selected four-way shuttle vehicle completes the adjustment work of each batch of tires to be maintained in parallel according to a preset adjustment angle;

[0070] Each batch of tires to be maintained in the maintenance queue will be assigned to a separate four-way shuttle. These selected four-way shuttles will complete the adjustment work in parallel. Specifically:

[0071] Step S31: presetting a different adjustment angle for each batch of tires to be maintained;

[0072] In order to observe how the adjustment angle of the tire affects the deformation rate of the tire, multiple samples are required. In this embodiment, each tire batch can be used as a sample, and each sample is preset with a different adjustment angle. As the shelf time goes by, the deformation status of each sample under different adjustment angles can be obtained, so as to analyze the influence of the adjustment angle on the tire deformation rate, and then obtain the optimal angle of tire adjustment. As an example, there are 6 tire batches to be maintained in the maintenance queue of this embodiment, and the preset adjustment angles are: 30, 60, 90, 120, 150, 180, respectively, in degrees.

[0073] Step S32: After the four-way shuttle vehicle reaches the storage location of the tire batch to be maintained, it sequentially adjusts the placement angles of the tires included in the batch according to the preset adjustment angles;

[0074] A batch of tires to be maintained contains multiple tires, which may be stored in multiple cargo locations. There is a pallet on each cargo location. The pallet can realize tire rotation from a mechanical structure, but it must be connected and controlled by an electronic control system. The electronic control system itself has no power drive. When the four-way shuttle lifts the pallet, it connects its own power supply interface with the power supply interface of the pallet, and then powers the electronic control system through the shuttle and sends a preset adjustment angle to the electronic control system. The electronic control system controls the pallet to rotate the tire according to the preset adjustment angle.

[0075] Step S33: adding the adjustment angle used in this adjustment to the tire batch data;

[0076] The corresponding tire batch data is queried from the database according to the tire batch number, and then the current adjustment angle is stored in the corresponding field (the last adjustment angle).

[0077] Step S40: After the adjustment work is completed, the selected four-way shuttle is released, and the last adjustment date field in the tire batch data is updated;

[0078] After the four-way shuttle vehicle completes the adjustment work of the tire batch it is responsible for, it should reset the status of the vehicle to idle, wait for the next delivery task to be issued, and query the corresponding tire batch data according to the tire batch number, and update the last adjustment date field to the current date.

[0079] Step S50: Counting the deformation rates of tires at different adjustment angles, and providing the optimal adjustment angle for the adjustment of the tire batch according to the statistical results;

[0080] The deformation rate refers to the amount of change in tire shape data per unit time. The statistical process of tire deformation rate at different adjustment angles specifically includes the following sub-steps:

[0081] Step S51: regularly sampling and measuring the shape data of the tire at different adjustment angles;

[0082] The shape data that need to be measured include the tire's outer circumference, section width, outer diameter, and tread groove depth, etc. Multiple key locations are selected on the tire as unified measurement points for each regular sampling measurement.

[0083] Step S52: calculating the deformation rate of the tire at different adjustment angles according to the measurement results;

[0084] Tire deformation rate The calculation formula is expressed as: ,in Indicates the measured value of the i-th shape data at the j-th measurement point in this measurement result. Indicates the measured value of the i-th shape data at the j-th measurement point in the last measurement result. represents the emphasis coefficient of the i-th shape data, It indicates the number of days between this measurement and the last measurement. i takes values ​​from 1 to n, where n is the total number of measurement data items. j takes values ​​from 1 to m, where m is the total number of selected measurement points.

[0085] Step S53: selecting the adjustment angle with the smallest tire deformation rate as the optimal adjustment angle and adopting it in the next adjustment work;

[0086] The optimal adjustment angle is used for the next adjustment, and the optimal adjustment angle is regularly updated according to the measurement data to achieve the best effect of the tire adjustment work.

[0087] Embodiment 2

[0088] like Figure 2As shown, the second embodiment of the present application provides a tire adjustment system based on a four-way shuttle vehicle, including: a data storage module 21, an adjustment task detection module 22, an adjustment task issuing module 23, an adjustment task execution module 24, and an adjustment angle updating module 25;

[0089] The data storage module 21 is used to store tire batch data, including: storage date, storage batch, last adjustment date, last adjustment angle, and storage location field.

[0090] The adjustment task detection module 22 is used to detect whether the shelf time of each tire batch exceeds the maintenance cycle, and generate an adjustment task for the tire batch that exceeds the maintenance cycle; it includes: a shelf time statistics submodule, a maintenance cycle calculation submodule, and an adjustment task generation submodule;

[0091] The shelf time statistics submodule is used to count the shelf time of each batch of tires according to the stored tire batch data;

[0092] The statistical method is: determine whether the last adjustment date is empty. If it is empty, the shelving period is the number of days between the current date and the warehousing date. If it is not empty, the shelving period is the number of days between the current date and the last adjustment date.

[0093] A maintenance cycle calculation submodule, used to calculate the maintenance cycle of each batch of tires using a maintenance cycle calculation formula;

[0094] Maintenance cycle The calculation formula is expressed as: ,in is the durability coefficient of the tire material, is the value of the kth storage condition, is the influence weight of the kth storage condition on tire deformation, k ranges from 1 to W, W is the total number of storage conditions, is the initial mass coefficient of the tire, is the influence coefficient of the dth placement condition on the tire deformation rate, is the duration of the dth placement condition, d takes values ​​from 1 to D, and D is the total number of placement conditions. is the natural aging rate of the tire.

[0095] The adjustment task generation submodule is used to query the data of the tire batches that need maintenance this time according to the comparison result between the shelf time of each batch of tires and the maintenance cycle, and add them to the maintenance queue in sequence;

[0096] If the shelf time of a batch of tires exceeds the maintenance cycle of the batch of tires, it is necessary to query the detailed tire batch data from the database according to the batch number and add it to the maintenance queue.

[0097] The adjustment task issuing module 23 is used to select an idle four-way shuttle vehicle for each tire batch to be maintained in the maintenance queue; it includes: a travel distance statistics submodule, a four-way shuttle vehicle selection submodule;

[0098] The travel distance statistics submodule is used to traverse the maintenance queue and count the travel distance between the target location of the current delivery task of each four-way shuttle vehicle and the storage location of the current batch of tires to be maintained;

[0099] It is known that a four-way shuttle vehicle will be in an empty state, that is, idle state, after completing a transportation task. The vehicle can be used to adjust the tires. Considering that selecting the vehicle closest to the tires to perform the adjustment will save a certain amount of travel time and further improve the maintenance rate, it is necessary to count the travel distance between the target position of the current transportation task of each four-way shuttle vehicle and the storage location of the current batch of tires to be maintained. The statistical work of the travel distance is completed by the upstream WCS system. During the actual operation of the shuttle vehicle, the distance to be moved by the shuttle vehicle is determined by the distance between the starting point and the target point. The upstream WCS system can configure the XY axis coordinate offset between the points, and then query which points are between the starting point and the end point, and then accumulate the offset of the points to get the final travel distance.

[0100] A four-way shuttle selection submodule is used to select a four-way shuttle with the shortest travel distance as the maintenance vehicle for the current batch of tires to be maintained;

[0101] The tire batch data to be maintained is sent to the selected four-way shuttle vehicle, and the tire batch data includes the batch number of the current tire batch and the storage location of each tire.

[0102] The adjustment task execution module 24 is used to complete the adjustment work of each batch of tires to be maintained in parallel; it includes an adjustment angle preset submodule and a tire placement angle adjustment submodule;

[0103] An adjustment angle presetting submodule is used to presetting different adjustment angles for each tire batch to be maintained;

[0104] In order to observe how the adjustment angle of the tire affects the deformation rate of the tire, multiple samples are needed. In this embodiment, each tire batch can be used as a sample, and each sample is preset with a different adjustment angle. As the shelf time goes by, the deformation status of each sample under different adjustment angles can be obtained, so as to analyze the influence of the adjustment angle on the tire deformation rate, and then obtain the optimal angle of tire adjustment. As an example, there are 6 tire batches to be maintained in the maintenance queue of this embodiment, and the preset adjustment angles are: 30, 60, 90, 120, 150, 180, respectively, in degrees.

[0105] A tire placement angle adjustment submodule is used to sequentially adjust the placement angles of tires included in the tire batch to be maintained according to a preset adjustment angle;

[0106] A batch of tires to be maintained contains multiple tires, which may be stored in multiple cargo locations. There is a pallet on each cargo location. The pallet can realize tire rotation from a mechanical structure, but it must be connected and controlled by an electronic control system. The electronic control system itself has no power drive. When the four-way shuttle lifts the pallet, it connects its own power supply interface with the power supply interface of the pallet, and then powers the electronic control system through the shuttle and sends a preset adjustment angle to the electronic control system. The electronic control system controls the pallet to rotate the tire according to the preset adjustment angle.

[0107] After the adjustment is completed, the last adjustment angle and the last adjustment date fields in the tire batch data are updated, and the selected four-way shuttle is released.

[0108] The adjustment angle updating module 25 is used to count the deformation rates of tires at different adjustment angles and provide the optimal adjustment angle for the adjustment of the tire batch according to the statistical results; it includes: a shape data measurement submodule, a deformation rate calculation submodule, and an optimal adjustment angle preset submodule;

[0109] The shape data measurement submodule is used to periodically sample and measure the shape data of the tire at different adjustment angles;

[0110] The shape data that need to be measured include the tire's outer circumference, section width, outer diameter, and tread groove depth, etc. Multiple key locations are selected on the tire as unified measurement points for each regular sampling measurement.

[0111] A deformation rate calculation submodule is used to calculate the deformation rate of the tire at different adjustment angles according to the measurement results;

[0112] Tire deformation rate The calculation formula is expressed as: ,in Indicates the measured value of the i-th shape data at the j-th measurement point in this measurement result. Indicates the measured value of the i-th shape data at the j-th measurement point in the last measurement result. represents the emphasis coefficient of the i-th shape data, It indicates the number of days between this measurement and the last measurement. i takes values ​​from 1 to n, where n is the total number of measurement data items. j takes values ​​from 1 to m, where m is the total number of selected measurement points.

[0113] The optimal adjustment angle presetting submodule is used to select the adjustment angle with the smallest tire deformation rate as the optimal adjustment angle and adopt it in the next adjustment work;

[0114] The optimal adjustment angle is used for the next adjustment, and the optimal adjustment angle is regularly updated according to the measurement data to achieve the best effect of the tire adjustment work.

[0115] Corresponding to the above embodiment, an embodiment of the present invention provides a computer storage medium, including: at least one memory and at least one processor;

[0116] The memory is used to store one or more program instructions;

[0117] The processor is used for running one or more program instructions to execute a tire adjustment method based on a four-way shuttle.

[0118] Corresponding to the above embodiment, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer storage medium contains one or more program instructions, and the one or more program instructions are used by a processor to execute a tire adjustment method based on a four-way shuttle.

[0119] The embodiment disclosed in the present invention provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed on a computer, the computer executes the above-mentioned tire adjustment method based on a four-way shuttle vehicle.

[0120] In the embodiment of the present invention, the processor may be an integrated circuit chip having the ability to process signals. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0121] The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The processor reads the information in the storage medium and completes the steps of the above method in combination with its hardware.

[0122] The storage medium may be a memory, which may be, for example, a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory.

[0123] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.

[0124] The volatile memory may be a random access memory (RAM) which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDRSDRAM), enhanced synchronous DRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus DRAM (DRRAM).

[0125] The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0126] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the present invention can be implemented using a combination of hardware and software. When software is used, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by general or special-purpose computers.

[0127] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tire adjustment method based on a four-way shuttle vehicle, characterized in that: include: Step 1: Calculate the maintenance cycle of each tire batch and add the tire batch data that has been shelved for longer than the maintenance cycle to the maintenance queue; The calculation formula for the tire batch maintenance cycle is: ,in is the calculation result of tire batch maintenance cycle, is the durability coefficient of the tire material, is the value of the kth storage condition, is the influence weight of the kth storage condition on tire deformation, k ranges from 1 to W, W is the total number of storage conditions, is the initial mass coefficient of the tire, is the influence coefficient of the dth placement condition on the tire deformation rate, is the duration of the dth placement condition, d takes values ​​from 1 to D, and D is the total number of placement conditions. is the natural aging rate of the tire; Step 2: Select an idle four-way shuttle vehicle for each tire batch to be maintained in the maintenance queue, which is divided into the following sub-steps: If it is detected that a shuttle vehicle currently has no transport task, that is, it is in an idle state, the shuttle vehicle is directly used to adjust each batch of tires to be maintained in the maintenance queue; If all four-way shuttles currently have their own delivery tasks, they start to traverse the maintenance queue and count the travel distance between the target location of the current delivery task of each four-way shuttle and the storage location of the current batch of tires to be maintained; Select the four-way shuttle vehicle with the shortest travel distance as the maintenance vehicle for the current batch of tires to be maintained; Send the tire batch data to be maintained to the selected four-way shuttle vehicle; Step 3, each selected four-way shuttle vehicle completes the adjustment work of each batch of tires to be maintained in parallel according to the preset adjustment angle; Step 4. After the adjustment work is completed, the selected four-way shuttle is released, and the last adjustment date field in the tire batch data is updated; Step 5: Count the deformation rates of tires at different adjustment angles, and provide the optimal adjustment angle for the adjustment of the tire batch based on the statistical results.

2. A tire adjustment method based on a four-way shuttle vehicle according to claim 1, characterized in that: Calculate the maintenance cycle of each tire batch and add the tire batch data that has been on hold for longer than the maintenance cycle to the maintenance queue, which includes the following sub-steps: Count the shelf time of each batch of tires according to the tire batch data stored in the database; Use the maintenance cycle calculation formula to calculate the maintenance cycle of each batch of tires; According to the comparison result of the storage time of each batch of tires and the maintenance cycle, the data of the tire batches that need maintenance this time are queried and added to the maintenance queue in sequence.

3. A tire adjustment method based on a four-way shuttle vehicle according to claim 1, characterized in that: Each selected four-way shuttle vehicle completes the adjustment work of each batch of tires to be maintained in parallel according to the preset adjustment angle, which specifically includes the following sub-steps: Preset different adjustment angles for each batch of tires to be maintained; After the four-way shuttle vehicle arrives at the storage location of the batch of tires to be maintained, it adjusts the placement angles of the tires included in the batch in turn according to the preset adjustment angles; Add the adjustment angle used in this adjustment to the tire batch data.

4. A tire adjustment method based on a four-way shuttle vehicle according to claim 1, characterized in that: The deformation rate of the tire under different adjustment angles is counted, and the optimal adjustment angle is provided for the adjustment of the tire batch according to the statistical results, which specifically includes the following sub-steps: Regularly sample and measure the shape data of tires at different adjustment angles; Calculate the deformation rate of the tire at different adjustment angles based on the measurement results; The adjustment angle with the smallest tire deformation rate is selected as the optimal adjustment angle and adopted in the next adjustment work.

5. A tire adjustment system based on a four-way shuttle, characterized in that: include: Data storage module, adjustment task detection module, adjustment task delivery module, adjustment task execution module, adjustment angle update module; A data storage module, used for storing tire batch data; An adjustment task detection module is used to detect whether the shelf time of each tire batch exceeds the maintenance cycle, and generate an adjustment task for the tire batch that exceeds the maintenance cycle; The calculation formula for the tire batch maintenance cycle is: ,in is the calculation result of tire batch maintenance cycle, is the durability coefficient of the tire material, is the value of the kth storage condition, is the influence weight of the kth storage condition on tire deformation, k ranges from 1 to W, W is the total number of storage conditions, is the initial mass coefficient of the tire, is the influence coefficient of the dth placement condition on the tire deformation rate, is the duration of the dth placement condition, d takes values ​​from 1 to D, and D is the total number of placement conditions. is the natural aging rate of the tire; Adjust the task delivery module to select idle four-way shuttles for each tire batch to be maintained in the maintenance queue, including: The travel distance statistics submodule is used to traverse the maintenance queue and count the travel distance between the target location of the current delivery task of each four-way shuttle vehicle and the storage location of the current batch of tires to be maintained; A four-way shuttle selection submodule is used to select a four-way shuttle with the shortest travel distance as the maintenance vehicle for the current batch of tires to be maintained; The adjustment task execution module is used to complete the adjustment work of each batch of tires to be maintained in parallel; The adjustment angle update module is used to count the deformation rates of tires at different adjustment angles and provide the optimal adjustment angle for the adjustment of tire batches based on the statistical results.

6. A tire adjustment system based on a four-way shuttle vehicle according to claim 5, characterized in that: The adjustment task detection module includes: a shelving time counting submodule, a maintenance cycle calculation submodule, and an adjustment task generation submodule; The shelf time statistics submodule is used to count the shelf time of each batch of tires according to the stored tire batch data; A maintenance cycle calculation submodule, used to calculate the maintenance cycle of each batch of tires using a maintenance cycle calculation formula; The adjustment task generation submodule is used to query the data of the tire batches that need maintenance this time according to the comparison result of the shelf time of each batch of tires with the maintenance cycle, and add them to the maintenance queue in sequence.

7. A tire adjustment system based on a four-way shuttle vehicle according to claim 5, characterized in that: The adjustment task execution module includes: an adjustment angle preset submodule and a tire placement angle adjustment submodule; An adjustment angle presetting submodule is used to presetting different adjustment angles for each tire batch to be maintained; The tire placement angle adjustment submodule is used to sequentially adjust the placement angles of the tires included in the tire batch to be maintained according to preset adjustment angles.

8. The tire adjustment system based on a four-way shuttle vehicle according to claim 5, characterized in that: The adjustment angle update module includes: a shape data measurement submodule, a deformation rate calculation submodule, and an optimal adjustment angle preset submodule; The shape data measurement submodule is used to periodically sample and measure the shape data of the tire at different adjustment angles; A deformation rate calculation submodule is used to calculate the deformation rate of the tire at different adjustment angles according to the measurement results; The optimal adjustment angle preset submodule is used to select the adjustment angle with the smallest tire deformation rate as the optimal adjustment angle and adopt it in the next adjustment work.

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