Automatic loading method, device and equipment based on grabber and storage medium

Abstract

The application provides an automatic loading method, device and equipment based on a grabbing machine and a storage medium, and the method comprises the following steps: if a vehicle to be loaded is parked in a preset parking area, the current delivery plan of a copper rod coil is obtained, the delivery plan at least comprising the delivery quantity and the standard size of the copper rod coil; the loading positions of the copper rod coils in the delivery quantity are planned in combination with the standard size of the copper rod coil and the car compartment size of the vehicle to be loaded, so as to determine the loading positions of the copper rod coils; the copper rod coils in the finished product warehouse are screened multiple times according to a preset screening rule, so as to determine the target copper rod coils in the delivery quantity, and the preset screening rule at least comprising the shortest distance between the copper rod coil and the vehicle to be loaded or / and the longest storage time of the copper rod coil in the finished product warehouse; and the grabbing machine is controlled according to the loading positions to automatically load the target copper rod coils. In this way, the automatic loading process is realized based on the grabbing machine, the loading efficiency and quality are improved, and the labor cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic logistics, and in particular, relates to an automatic loading method, device, equipment and storage medium based on a grabbing machine. BACKGROUND

[0002] With the unprecedented development opportunities of the new energy industry, the demand for high-quality oxygen-free copper rods has increased dramatically, especially in the fields of photovoltaic, wind power, electric vehicles, etc. The current oxygen-free copper rods are mainly produced by the up-drawing process and processed into copper rod coils. However, in the current production process, although the up-drawing process has achieved efficient and stable production of oxygen-free copper rods, subsequent storage, transportation and loading processes still face many challenges, especially copper rod coils, as one of the main forms of oxygen-free copper rods, although the convenience of storage and transportation has been significantly improved, but in the loading process, it is highly dependent on manual operation. This not only limits the improvement of overall production efficiency, but also brings many safety hazards and management problems.

[0003] In the related art, although the grabbing machine can be used to automatically grab the copper rod coil and place it in the car compartment of the truck, to a certain extent, the loading efficiency is improved, but it still needs to be combined with manual command and operation, and multiple workers need to coordinate the work to complete the hoisting, placing and fixing of the copper rod coil. Not only consumes a lot of manpower and time, but also easily leads to unstable loading quality, and even causes safety accidents. Therefore, how to realize the automation of the loading process is a problem to be solved at present. SUMMARY

[0004] To provide a general summary of some aspects of the disclosed embodiments, the following is submitted. The summary is not intended to be a comprehensive overview of the disclosure, nor is it intended to delineate key / critical elements of the embodiments, or to delineate the scope of the disclosure's protection. The sole purpose of the summary is to present some concepts of the disclosed embodiments in a simplified form as a prelude to the more detailed description that is presented later.

[0005] In view of the above-mentioned shortcomings of the prior art, the present application discloses an automatic loading method, device, equipment and storage medium based on a grabbing machine to solve the technical problem of how to realize the automation of the loading process.

[0006] In a first aspect, the present application provides an automatic loading method based on a grabbing machine, the method comprising: if it is detected that a vehicle to be loaded is parked in a preset parking area, obtaining a current delivery plan of copper rod coils, the delivery plan comprising at least a delivery quantity of the copper rod coils and a standard size of the copper rod coils; planning a loading position of each of the copper rod coils in the delivery quantity in combination with the standard size of the copper rod coils and a car compartment size of the vehicle to be loaded, the car compartment size being obtained by detecting the vehicle to be loaded by a preset first sensing element; screening each of the copper rod coils in a finished product warehouse multiple times according to a preset screening rule to determine target copper rod coils in the delivery quantity, the finished product warehouse being used to store the copper rod coils, the preset screening rule comprising at least that a distance between the copper rod coils and the vehicle to be loaded is shortest or / and a storage time of the copper rod coils in the finished product warehouse is longest; and controlling the grabbing machine to automatically load each of the target copper rod coils according to the loading position.

[0007] In an embodiment of the present application, the screening each of the copper rod coils in the finished product warehouse multiple times according to the preset screening rule to determine the target copper rod coils in the delivery quantity comprises: if the copper rod coils in the finished product warehouse are screened according to that the distance between the copper rod coils and the vehicle to be loaded is shortest and the storage time of the copper rod coils in the finished product warehouse is longest, the copper rod coil with the shortest distance to the vehicle to be loaded is taken as a first copper rod coil, and the copper rod coil with the longest storage time is taken as a second copper rod coil; if the first copper rod coil and the second copper rod coil are the same copper rod coil, the copper rod coil is taken as the target copper rod coil; if the first copper rod coil and the second copper rod coil are not the same copper rod coil, weights of the first copper rod coil and the second copper rod coil are respectively allocated in combination with the storage time and the distance to the vehicle to be loaded to determine respective weight scores of the first copper rod coil and the second copper rod coil; the respective weight scores of the first copper rod coil and the second copper rod coil are compared to determine a target copper rod coil based on a comparison result; and the remaining copper rod coils in the finished product warehouse are continuously screened until the quantity of the target copper rod coils reaches the delivery quantity.

[0008] In an embodiment of the present application, the multiple times of screening each copper rod coil in the finished product warehouse according to the preset screening rule to determine the target copper rod coil of the out-of-warehouse quantity comprises: multiple times of screening each copper rod coil in the finished product warehouse to determine the out-of-warehouse copper rod coil, wherein one out-of-warehouse copper rod coil is determined each time; in each screening, a first difference value between the weight of each out-of-warehouse copper rod coil and an average weight is calculated, the out-of-warehouse plan further comprises a total out-of-warehouse weight, the average weight is calculated according to the total out-of-warehouse weight and the out-of-warehouse quantity, and the weight of each copper rod coil in the finished product warehouse is detected by a preset second sensing element; each copper rod coil remaining in the finished product warehouse is respectively subjected to difference operation with the average weight to determine a second difference value corresponding to each copper rod coil remaining; if any second difference value is greater than or equal to a total difference value of each out-of-warehouse copper rod coil, the screening of the copper rod coil remaining in the finished product warehouse is continued, the total difference value is the cumulative value of the difference between the first difference values of two adjacent screening times, and the total difference value in the first screening is the first difference value of the out-of-warehouse copper rod coil; until the quantity of the out-of-warehouse copper rod coil reaches the out-of-warehouse quantity and the total difference value is within an error range, the screening is stopped, each out-of-warehouse copper rod coil is taken as the target copper rod coil, and the error range is calculated according to the total out-of-warehouse weight and a preset proportion.

[0009] In an embodiment of the present application, the multiple times of screening each copper rod coil in the finished product warehouse to determine the out-of-warehouse copper rod coil comprises: if all the second difference values in any screening are less than the total difference value, the out-of-warehouse copper rod coil of this screening is marked, is not taken as the remaining copper rod coil for continuing to participate in screening, and is re-screened; if the remaining copper rod coils in this screening are all marked, all the marked out-of-warehouse copper rod coils are cleared, the out-of-warehouse copper rod coil screened in the last screening is marked, and the last out-of-warehouse copper rod coil is re-screened; if until the out-of-warehouse copper rod coil screened in the first screening is re-screened, all the copper rod coils in the finished product warehouse are marked, an alarm prompt is generated.

[0010] In one embodiment of this application, after the material handling machine is automatically loaded onto each of the target copper rod coils according to the loading position, the method further includes: detecting the quantity and position of each of the target copper rod coils in the vehicle to be loaded using a preset first sensing element to determine the loading quantity and the current position of each of the target copper rod coils; if the loading quantity is consistent with the outbound quantity, and the current position of each of the target copper rod coils is consistent with the loading position, then it is determined that the automatic loading conforms to the plan, and no adjustment is made to each of the target copper rod coils in the vehicle to be loaded; obtaining the vehicle weight of the vehicle to be loaded before and after loading, the vehicle weight being measured by a weighing device located near the preset parking area; calculating the loading weight of the vehicle to be loaded based on the vehicle weight before and after loading; comparing the loading weight with the total outbound weight to determine whether the automatic loading conforms to the current outbound plan.

[0011] In one embodiment of this application, before planning the loading position of each of the copper rod coils in the outbound quantity by combining the standard size of the copper rod coil and the dimensions of the vehicle to be loaded, the method further includes: calculating based on the dimensions of the vehicle and the standard size to determine the maximum number of copper rod coils that the vehicle to be loaded can carry; comparing the maximum number of copper rod coils that the vehicle to be loaded can carry with the outbound quantity; if the maximum number is less than the outbound quantity, calculating the quantity difference between the outbound quantity and the maximum number, adding the copper rod coils with the quantity difference to the next outbound plan; and adjusting the outbound quantity to the maximum number.

[0012] In one embodiment of this application, the step of controlling the material handling machine to automatically load each of the target copper rod coils according to the loading position includes: obtaining the storage position of each of the target copper rod coils in the finished product warehouse; and controlling the material handling machine to sequentially place each of the target copper rod coils from the storage position to the loading position based on the screening order of each of the target copper rod coils, so as to complete the automatic loading.

[0013] Secondly, this application provides an automatic loading device based on a material handling machine, comprising: an acquisition module, configured to acquire a current outbound plan for copper rod coils if a vehicle to be loaded is detected parked in a preset parking area, the outbound plan including at least the outbound quantity and standard size of the copper rod coils; a location planning module, configured to plan the loading position of each copper rod coil of the outbound quantity by combining the standard size of the copper rod coils and the dimensions of the vehicle to be loaded, and determine the loading position of each copper rod coil, wherein the dimensions of the vehicle are obtained by detecting the vehicle to be loaded using a preset first sensing element; a screening module, configured to perform multiple screenings on each copper rod coil in the finished product warehouse according to preset screening rules to determine the target copper rod coil of the outbound quantity, wherein the finished product warehouse is used to store the copper rod coils, and the preset screening rules include at least the shortest distance between the copper rod coil and the vehicle to be loaded or the longest storage time of the copper rod coil in the finished product warehouse; and an automatic loading module, configured to control the material handling machine to automatically load each target copper rod coil according to the loading position.

[0014] Thirdly, this application also provides an electronic device, including: a processor, a memory, and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement the automatic loading method based on a material handling machine as described in the above embodiments.

[0015] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the automatic loading method based on a material handling machine as described in the above embodiments.

[0016] The beneficial effects of this application are as follows: This application proposes an automatic loading method, apparatus, equipment, and storage medium based on a material handling machine. When a vehicle to be loaded is detected parking in a preset parking area, the current outbound plan for copper rod coils is obtained. The outbound plan includes at least the quantity and standard size of the copper rod coils to be loaded. Combining the standard size of the copper rod coils and the dimensions of the vehicle's cargo compartment, the loading positions for each quantity of copper rod coils to be loaded are planned, determining the loading positions for each copper rod coil. The cargo compartment dimensions are obtained by a preset first sensing element detecting the vehicle to be loaded. According to preset screening rules, each copper rod coil in the finished product warehouse is screened multiple times to determine the target quantity of copper rod coils to be loaded. The preset screening rules include at least the shortest distance between the copper rod coil and the vehicle to be loaded, and / or the longest storage time of the copper rod coil in the finished product warehouse. The material handling machine is controlled to automatically load each target copper rod coil according to the loading position. This achieves automatic loading based on a material handling machine, significantly improving loading efficiency and quality, reducing labor costs, and automating the loading process to the greatest extent possible to avoid manual intervention and improve the safety of the loading process.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0019] Figure 1 This is a flowchart illustrating an exemplary embodiment of an automatic loading method based on a material handling machine, as shown in this application.

[0020] Figure 2 This is a schematic cross-sectional view of a copper rod coil shown in an exemplary embodiment of this application;

[0021] Figure 3 This is a schematic diagram illustrating the placement of a copper rod coil in an exemplary embodiment of this application;

[0022] Figure 4 This is a schematic diagram illustrating the overall process of automated loading in an exemplary embodiment of this application;

[0023] Figure 5 This is a block diagram illustrating an automatic loading device based on a material handling machine, as shown in an exemplary embodiment of this application;

[0024] Figure 6 This is a schematic diagram illustrating the structure of a computer system suitable for implementing the electronic device of this application, as shown in an exemplary embodiment of this application. Detailed Implementation

[0025] The embodiments of this application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0026] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the shape, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0027] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0028] It should be noted that the process of loading copper rod coils onto vehicles, which relies on manual labor, has problems such as high manpower requirements, high safety risks, and low management efficiency. For example, the overhead crane lifting process relies heavily on manual command and assistance, including designating the lifting position, placing the hook, preventing the steel cable from swaying, determining the loading position, and unhooking. These tedious steps consume a lot of time, making it difficult to improve overall production efficiency. Furthermore, during the lifting process, copper rod coils are often suspended above personnel, and personnel are also needed to assist in placing them on the truck bed. This high-risk working environment is prone to accidents involving falls and seriously threatens the lives of workers. The copper rod coil outbound process also involves on-site recording by multiple departments (such as sales, inspection, branch factory, and gatekeeper), which not only wastes a lot of human resources but also increases management time costs and reduces overall management efficiency. In addition, the loading quality of copper rod coils depends entirely on the personal experience of the loading personnel, lacking a unified standard and quality control mechanism. This results in inconsistent loading quality, making it difficult to ensure transportation safety. Moreover, loading requires the cooperation of multiple workers, making it difficult to significantly improve loading efficiency.

[0029] Based on this, this application proposes an automatic loading method based on a material handling machine to realize the automatic loading of copper rod coils.

[0030] Please see Figure 1 The diagram below illustrates an exemplary embodiment of an automated loading method based on a material handling machine. This automated loading method based on a material handling machine can be executed by computer equipment, such as… Figure 1 As shown, in an exemplary embodiment, the automatic loading method based on the material handling machine includes at least steps S110 to S140, which are described in detail below:

[0031] Step S110: If a vehicle to be loaded is detected parked in a preset parking area, obtain the current outbound plan for the copper rod coils. The outbound plan includes at least the outbound quantity and standard size of the copper rod coils.

[0032] In one embodiment of this application, after the vehicle transporting copper rod coils arrives at the preset parking area, an outbound task is triggered. A preset first sensing element is used to detect the vehicle, which may include detecting whether the vehicle's current parking position conforms to parking regulations, detecting the vehicle's dimensions and orientation, and detecting the dimensions and orientation of the vehicle's cargo compartment. The preset first sensing element includes at least one type of sensing element, such as an ultrasonic sensor, lidar, laser rangefinder, and gyroscope, and can be adjusted according to actual needs without limitation.

[0033] Please see Figure 2 The image shown is a cross-sectional schematic diagram of a copper rod coil, illustrating an exemplary embodiment of this application. Figure 2 As shown, the standard dimensions of copper rod coils involve outer diameter, inner diameter, height, and weight. Figure 2 For example, the standard dimensions of a copper rod coil are an outer diameter of 1m, an inner diameter of 0.65m, a height of 0.7m, and a weight of 1.12 tons. The copper rods inside the copper rod coil are arranged tightly and orderly.

[0034] Step S120: Based on the standard dimensions of the copper rod coils and the dimensions of the vehicle to be loaded, plan the loading positions of each copper rod coil in the outbound quantity and determine the loading positions of each copper rod coil.

[0035] Specifically, the first step is to plan the actual number of copper rod coils that the vehicle to be loaded will carry out, including: calculating the maximum number of copper rod coils that the vehicle to be loaded can carry based on the dimensions of the cargo box and the standard dimensions; comparing the maximum number of copper rod coils that the vehicle to be loaded can carry with the number of coils to be shipped out; if the maximum number is less than the number of coils to be shipped out, calculating the difference between the number of coils to be shipped out and the maximum number, adding the copper rod coils with the difference to the next shipping plan; and adjusting the number of coils to be shipped out to the maximum number.

[0036] In one embodiment of this application, after determining the actual number of copper rod coils to be shipped, the loading method for this shipment is automatically planned based on the standard dimensions of the copper rod coils and the dimensions of the truck bed. This includes: calculating the number of rows and columns that can hold the copper rod coils in the truck bed based on the length, width, and height of the truck; adjusting the number of rows and columns based on the standard outer and inner diameters of the copper rod coils and the height of a person to ensure that each copper rod coil in the shipment quantity can be stably placed and meets loading restrictions; finally, refining the specific placement information of each copper rod coil as the loading position, and reasonably arranging the loading sequence of the copper rod coils to ensure that the truck bed will not tilt due to a shift in the center of gravity during loading. If the total weight of the maximum calculated number of copper rod coils exceeds the actual load-bearing capacity of the truck bed, the maximum number that the truck bed can carry is adjusted to control the total weight of the shipped copper rod coils within the actual load-bearing capacity of the truck bed. This not only improves the efficiency of a single transport but also ensures transport safety.

[0037] Step S130: The copper rod coils in the finished product warehouse are screened multiple times according to preset screening rules to determine the target quantity of copper rod coils to be shipped. The finished product warehouse is used to store copper rod coils. The preset screening rules include at least the shortest distance between the copper rod coil and the vehicle to be loaded, and / or the longest storage time of the copper rod coil in the finished product warehouse, to ensure loading efficiency and avoid long-term storage of copper rod coils in the finished product warehouse. Each screening process determines only one target copper rod coil.

[0038] In one embodiment of this application, the produced copper rod coils are stacked in a finished product warehouse. A preset second sensing sensor is used to detect each copper rod coil in the finished product warehouse to obtain information about each copper rod coil waiting to be shipped out of the finished product warehouse. This information includes at least the storage location and weight of the copper rod coils. The storage location includes at least the stacking location and the number of stacking layers. The preset second sensing sensor includes at least one type of sensing element, but is not limited thereto.

[0039] Please see Figure 3 This is a schematic diagram illustrating the placement of a copper rod coil as an exemplary embodiment of this application. Figure 3 As shown, considering the convenience of loading copper rod coils onto trucks and unloading by downstream customers, the copper rod coils are placed in the truck bed using a rolling method, and are arranged closely together inside the truck bed.

[0040] Specifically, in this application, if we consider both copper rod coils that are close to the vehicle to be loaded, thereby improving loading efficiency, and copper rod coils that have been stored for a long time, thereby reducing the situation where copper rod coils are piled up in the finished product warehouse for a long time and improving the overall quality of outbound shipment, then a conflict may occur. Therefore, if the copper rod coils in the finished product warehouse are screened based on the shortest distance between the copper rod coil and the vehicle to be loaded, and the longest storage time in the finished product warehouse, then the copper rod coil with the shortest distance to the vehicle to be loaded is designated as the first copper rod coil, and the copper rod coil with the longest storage time is designated as the second copper rod coil. If the first copper rod coil and the second copper rod coil are the same copper rod coil, then the copper rod coil is designated as the target copper rod coil. If the first copper rod coil and the second copper rod coil are not the same copper rod coil, then the weight allocation of the first copper rod coil and the second copper rod coil is determined by combining the storage time and the distance to the vehicle to be loaded, respectively, to determine the weight score corresponding to the first copper rod coil and the second copper rod coil. The weight scores corresponding to the first copper rod coil and the second copper rod coil are compared, and a target copper rod coil is determined based on the comparison result. The remaining copper rod coils in the finished product warehouse are screened until the number of target copper rod coils reaches the number of coils to be shipped out.

[0041] In one embodiment of this application, a first weight is determined for each of the first and second copper rods based on their respective distances to the vehicle to be loaded, wherein the closer the copper rod roll is to the vehicle, the higher the first weight. A second weight is determined for each of the first and second copper rods based on their respective storage times, wherein the longer the storage time of the copper rod roll, the higher the second weight. The first and second weights of the same copper rod roll are weighted and summed to determine the weight score of the copper rod roll. Finally, the copper rod roll with the larger weight score is determined as the target copper rod roll.

[0042] Specifically, to ensure that the copper rod coils shipped out of the warehouse meet the outbound plan to the maximum extent and conform to the total outbound weight required by the outbound plan, thereby improving the reliability of automated loading, the copper rod coils in the finished product warehouse need to be screened multiple times to determine the copper rod coils to be shipped out. Each screening determines one copper rod coil to be shipped out. In each screening, the first difference between the weight of each copper rod coil to be shipped out and the average weight is calculated. The outbound plan also includes the total outbound weight, and the average weight is calculated based on the total outbound weight and the outbound quantity. The remaining copper rod coils in the finished product warehouse are then individually calculated using the difference between their average weight and the average weight to determine the remaining copper rod coils. The corresponding second difference; if any second difference is greater than or equal to the total difference of all copper rod coils to be shipped, ensuring that there are copper rod coils in the finished product warehouse that can offset the total difference in weight, then the remaining copper rod coils in the finished product warehouse continue to be screened. The total difference is the sum of the differences between the two first differences in adjacent screening times. The total difference at the first screening is the first difference of the copper rod coils to be shipped; until the number of copper rod coils to be shipped reaches the shipping quantity, and the total difference is within the error range, then screening stops, and each copper rod coil to be shipped is taken as the target copper rod coil. The error range is calculated based on the total shipping weight and the preset ratio. It should be noted that the loading order of each target copper rod coil is consistent with the screening order, and the preset ratio can be adjusted according to actual needs, for example, set to 1%.

[0043] In one embodiment of this application, taking an outbound quantity of n as an example, the first copper rod coil to be outbound is screened. If the second difference of any copper rod coil in the finished product warehouse is greater than or equal to the first difference of the first copper rod coil to be outbound, then the remaining copper rod coils in the finished product warehouse are screened a second time to obtain the second copper rod coil to be outbound. If any copper rod coil in the finished product warehouse is greater than or equal to the total difference between the two copper rod coils to be outbound, then a third screening is performed, and so on, until n copper rod coils to be outbound are selected. In this way, the error between the actual total weight of the copper rod coils outbound and the total weight in the outbound plan is within the error range.

[0044] Specifically, if all second differences in any screening are less than the total difference, the copper rod coils to be shipped in this screening are marked and will not be considered as remaining copper rod coils to continue screening. The current copper rod coils to be shipped are then re-screened. If all remaining copper rod coils in this screening are marked, all marked copper rod coils to be shipped are cleared, and the copper rod coils to be shipped from the previous screening are marked again. The previous copper rod coils to be shipped are then re-screened. If all copper rod coils in the finished product warehouse are marked by the time the copper rod coils to be shipped from the first screening are re-screened, an alarm is generated.

[0045] In one embodiment of this application, taking the screening of the nth copper rod coil to be shipped as an example, if there are no remaining copper rod coils in the finished product warehouse whose second difference is less than the total difference, then the nth copper rod coil to be shipped in this screening is marked, and the marking indicates that the copper rod coil will not be shipped. The screening is then repeated among the unmarked remaining copper rod coils to select the nth copper rod coil to be shipped. This process continues until there are no unmarked remaining copper rod coils, at which point all markings are cleared, and then the (n-1)th copper rod coil to be shipped is marked. The (n-1)th copper rod coil to be shipped is then screened again, and so on, until all copper rod coils are marked when the first copper rod coil to be shipped is screened. In this case, the copper rod coils stored in the finished product warehouse cannot meet the current shipping plan, and an alarm is generated.

[0046] Step S140: Control the material handling machine to automatically load each target copper rod coil onto the vehicle according to the loading position.

[0047] Specifically, the storage location of each target copper rod coil in the finished product warehouse is obtained; based on the screening order of each target copper rod coil, the material handling machine is controlled to place each target copper rod coil from the storage location to the loading location in sequence to complete automatic loading.

[0048] In one embodiment of this application, the screening order of each target copper rod coil is determined, the current target copper rod coil to be grabbed by the grabber is determined, the grabber is controlled to move to the parking position corresponding to the current target copper rod coil, the alignment and grabbing are completed, and then the grabber is controlled to automatically move to the loading position of the vehicle to be loaded, and the current target copper rod coil is placed in the corresponding loading position. In this way, the hoisting, placement and fixing of copper rod coils in the loading process are automated and unmanned, improving loading quality and safety, and reducing the waste of human resources.

[0049] Specifically, to further ensure that the loading instructions of the automated loading system meet the outbound plan, a preset first sensing element detects the quantity and position of each target copper rod coil in the vehicle to be loaded, determining the loading quantity and the current position of each target copper rod coil. If the loading quantity and the outbound quantity are consistent, and the current position of each target copper rod coil is consistent with the loading position, then the automated loading is determined to be in accordance with the plan, and no adjustments are made to the target copper rod coils in the vehicle to be loaded. The vehicle weight before and after loading is obtained, and the vehicle weight is measured by a weighing device located near the preset parking area. The loading weight of the vehicle to be loaded is calculated based on the vehicle weight before and after loading. The loading weight is compared with the total outbound weight to determine whether the automated loading meets the current outbound plan.

[0050] In one embodiment of this application, the weighing device may be an axle weighing scale or a truck scale, and the type of weighing device is not limited.

[0051] Please see Figure 4 This is a schematic diagram illustrating the overall process of automated loading, as shown in an exemplary embodiment of this application. Figure 4 As shown, this method can be applied to an intelligent warehouse management system. Information regarding each copper rod coil in the finished goods warehouse is stored in the intelligent warehouse management system. After the outbound plan is entered into the intelligent warehouse management system, when the vehicle to be loaded is weighed and parked in the preset parking area, the intelligent warehouse management system generates an automated loading task based on this method to control the material handling machine to automatically load each target copper rod coil, completing the loading task. Then, the information stored in the intelligent warehouse management system is updated, the warehouse location information (i.e., the information on the remaining copper rod coils in the finished goods warehouse) is verified, and it is checked whether the automatic loading conforms to the plan. Finally, the vehicle to be loaded is weighed again to confirm whether the automatic loading conforms to the outbound plan, thus completing the outbound plan.

[0052] The automatic loading method based on a material handling machine provided in this application has the following advantages: First, it realizes automatic loading based on a material handling machine, which significantly improves loading efficiency and quality, reduces labor costs, and the automation of the loading process minimizes human intervention and improves the safety of the loading process. Second, it ensures that the copper rod coils leaving the warehouse conform to the outbound plan to the greatest extent, thus improving the reliability of automatic loading. Third, it increases economic benefits.

[0053] Please see Figure 5 The diagram illustrates an automated loading device based on a material handling machine, as shown in an exemplary embodiment of this application. Figure 5 As shown, in an exemplary embodiment, the automatic loading device based on the material handling machine includes at least an acquisition module 510, a position planning module 520, a screening module 530, and an automatic loading module 540, which are described in detail below:

[0054] The acquisition module 510 is used to acquire the current outbound plan for copper rod coils if it detects that the vehicle to be loaded is parked in the preset parking area. The outbound plan includes at least the outbound quantity and standard size of the copper rod coils.

[0055] The location planning module 520 is used to plan the loading position of each copper rod coil of the outgoing quantity by combining the standard size of the copper rod coil and the size of the vehicle to be loaded. The loading position of each copper rod coil is determined. The size of the vehicle is obtained by the preset first sensing element detecting the vehicle to be loaded.

[0056] The screening module 530 is used to screen each copper rod coil in the finished product warehouse multiple times according to the preset screening rules to determine the target quantity of copper rod coils to be shipped out. The finished product warehouse is used to store copper rod coils. The preset screening rules include at least the shortest distance between the copper rod coil and the vehicle to be loaded, or the longest storage time of the copper rod coil in the finished product warehouse.

[0057] The automatic loading module 540 is used to control the material handling machine to automatically load each target copper rod coil according to the loading position.

[0058] It should be noted that the automatic loading device based on the material handling machine provided in the above embodiments and the automatic loading method based on the material handling machine provided in the above embodiments belong to the same concept. The operation of each module has been described in detail in the method embodiments, and will not be repeated here.

[0059] This application also provides an electronic device, including: a processor, a memory, and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement the automatic loading method based on a material handling machine as described in the above embodiments.

[0060] Please see Figure 6 This diagram illustrates the structure of a computer system suitable for implementing the embodiments of this application. It should be noted that... Figure 6 The computer system 600 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0061] like Figure 6As shown, the computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on a program stored in Read-Only Memory (ROM) 602 or a program loaded from Storage Section 608 into Random Access Memory (RAM) 603. The RAM 603 also stores various programs and data required for system operation. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An Input / Output (I / O) interface 605 is also connected to the bus 604.

[0062] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 609 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0063] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs various functions defined in the system of this application.

[0064] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the automated loading method based on a material handling machine as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into that electronic device.

[0065] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit programs for use by or in connection with an instruction execution system, system, or device. Computer programs contained on a computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0066] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0067] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0068] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. An automatic loading method based on a material handling machine, characterized in that, The method includes: If a vehicle to be loaded is detected parked in a preset parking area, the current outbound plan for the copper rod coil is obtained, and the outbound plan includes at least the outbound quantity and standard size of the copper rod coil; Based on the standard dimensions of the copper rod coils and the dimensions of the vehicle to be loaded, the loading positions of each copper rod coil in the number to be dispatched are planned and the loading positions of each copper rod coil are determined. The dimensions of the vehicle are obtained by detecting the vehicle to be loaded using a preset first sensing element. According to preset screening rules, each copper rod coil in the finished product warehouse is screened multiple times to determine the target quantity of copper rod coils to be shipped out. The finished product warehouse is used to store the copper rod coils. The preset screening rules include at least the shortest distance between the copper rod coil and the vehicle to be loaded or / and the longest storage time of the copper rod coil in the finished product warehouse. The loading position is used to control the material handling machine to automatically load each of the target copper rod coils onto the vehicle; The step of performing multiple screenings on each of the copper rod coils in the finished product warehouse according to preset screening rules to determine the target quantity of copper rod coils to be shipped out includes: The copper rod coils in the finished product warehouse are screened multiple times to determine the copper rod coils to be shipped out, wherein one copper rod coil is determined to be shipped out each time. In each screening, a first difference between the weight of each copper rod coil to be shipped out and the average weight is calculated. The shipping plan also includes the total shipping weight. The average weight is calculated based on the total shipping weight and the shipping quantity. The weight of each copper rod coil in the finished product warehouse is detected by a preset second sensing element. The difference between each remaining copper rod coil in the finished product warehouse and the average weight is calculated to determine the second difference value corresponding to each remaining copper rod coil. If any of the second differences is greater than or equal to the total difference of all the copper rod coils to be shipped out, then the remaining copper rod coils in the finished product warehouse are screened again. The total difference is the sum of the differences between the two first differences in adjacent screening times. The total difference at the first screening time is the first difference of the copper rod coils to be shipped out. The screening process continues until the number of copper rod coils to be shipped out reaches the number of shipments, and the total difference is within the error range. Then, each of the copper rod coils to be shipped out is taken as the target copper rod coil. The error range is calculated based on the total weight of shipments and a preset ratio.

2. The automatic loading method based on a material handling machine according to claim 1, characterized in that, The step of performing multiple screenings on each of the copper rod coils in the finished product warehouse according to preset screening rules to determine the target quantity of copper rod coils to be shipped out includes: If the copper rod coils in the finished product warehouse are screened based on the shortest distance between the copper rod coil and the vehicle to be loaded, and the longest storage time of the copper rod coil in the finished product warehouse, then the copper rod coil with the shortest distance to the vehicle to be loaded is selected as the first copper rod coil, and the copper rod coil with the longest storage time is selected as the second copper rod coil. If the first copper rod coil and the second copper rod coil are the same copper rod coil, then the copper rod coil is taken as the target copper rod coil; If the first copper rod roll and the second copper rod roll are not the same copper rod roll, then the weight allocation of the first copper rod roll and the second copper rod is determined by combining the storage time and the distance from the vehicle to be loaded, and the weight score corresponding to the first copper rod roll and the second copper rod is determined respectively. Compare the weight scores corresponding to the first copper rod coil and the second copper rod, and determine a target copper rod coil based on the comparison results; Continue screening the remaining copper rod coils in the finished product warehouse until the number of target copper rod coils reaches the quantity to be shipped out.

3. The automatic loading method based on a material handling machine according to claim 1, characterized in that, The process of repeatedly screening the copper rod coils in the finished product warehouse to determine the copper rod coils to be shipped out includes: If all the second differences in any screening are less than the total difference, then the copper rod coil to be shipped out in this screening is marked as not to be included in the remaining copper rod coils to continue screening, and the copper rod coil to be shipped out in this screening is re-screened. If all the remaining copper rod coils in this screening are marked, then all the marked copper rod coils to be shipped out are cleared, and the copper rod coils to be shipped out in the previous screening are marked again, and the previous copper rod coils to be shipped out are screened again. If all the copper rod coils in the finished product warehouse have been marked by the time the first screening of the copper rod coils to be shipped out is re-screened, an alarm will be generated.

4. The automatic loading method based on a material handling machine according to claim 1, characterized in that, After controlling the material handling machine to automatically load each of the target copper rod coils according to the loading position, the method further includes: The quantity and position of each target copper rod coil in the vehicle to be loaded are detected by a preset first sensing element to determine the loading quantity and the current position of each target copper rod coil. If the number of loads is the same as the number of outbound loads, and the current position of each target copper rod coil is the same as the loading position, then it is determined that the automatic loading conforms to the plan, and no adjustment is made to each target copper rod coil in the vehicle to be loaded. The vehicle weight of the vehicle to be loaded is obtained before and after loading, and the vehicle weight is measured by a weighing device located near the preset parking area; The loading weight of the vehicle to be loaded is determined by calculating the weight of the vehicle before and after loading. By comparing the loaded weight with the total outbound weight, it is determined whether the automatic loading conforms to the current outbound plan.

5. The automatic loading method based on a material handling machine according to any one of claims 1 to 4, characterized in that, Before planning the loading positions of each of the copper rod coils in the specified quantity, by combining the standard dimensions of the copper rod coils and the dimensions of the vehicle to be loaded, the method further includes: Based on the dimensions of the carriage and the standard dimensions, the maximum number of copper rod coils that the vehicle to be loaded can carry is determined. Compare the maximum number of copper rod coils that the vehicle to be loaded can carry with the number that is taken out of the warehouse; If the maximum quantity is less than the outbound quantity, then calculate the quantity difference between the outbound quantity and the maximum quantity, and add the copper rod coil with the quantity difference to the next outbound plan; Adjust the outbound quantity to the maximum quantity.

6. The automatic loading method based on a material handling machine according to any one of claims 1 to 4, characterized in that, The step of controlling the material handling machine to automatically load each of the target copper rod coils according to the loading position includes: Obtain the storage location of each target copper rod coil in the finished product warehouse; Based on the screening order of each target copper rod coil, the material handling machine is controlled to place each target copper rod coil from the storage position to the loading position in sequence to complete automatic loading.

7. An electronic device, characterized in that, include: Processor, memory, and communication bus; The communication bus is used to connect the processor and the memory; The processor is configured to execute a computer program stored in the memory to implement the method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, It contains a computer program that enables the computer to perform the method as described in any one of claims 1 to 6.

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