A high storage density glass intelligent storage system and control method

Abstract

The present invention relates to a high storage density glass intelligent storage system control method, including obtaining the first specification information of the incoming glass original sheet, the second specification information and the first position information of the stock glass original sheet, and the outbound information of the glass original sheet; obtaining the processing order information of the glass original sheet; obtaining the second position information of the shuttle; building a shuttle control database; inputting the judgment result of whether interference occurs, the loading information input and the corresponding shuttle path priority into the path fine-tuning control model, and performing training verification and testing until the impact time of the path adjustment on the process is minimized, and outputting the path adjustment control parameters of the corresponding shuttle. The beneficial effect of the present invention is: through the first specification information of the incoming glass original sheet, the second specification information and the first position information of the stock glass original sheet and the processing order information of the glass original sheet; the second position information of the shuttle, etc., the path fine-tuning control model is used to fine-tune the transportation to achieve the optimal transportation.

Description

Technical Field

[0001] The present invention belongs to the technical field of control of high storage density glass intelligent storage, and in particular, relates to a high storage density glass intelligent storage system and a control method. Background Art

[0002] The glass sheet shuttle involved in the present invention is an intelligent material feeding, material storage and material taking and placing device for glass cutting.

[0003] The inventor discovered in the implementation of Chinese utility model patent CN202223608381.0, Chinese utility model patent CN202320060968.8, invention patent CN202310120850.4, invention patent CN202310120857.6 and Chinese invention patent CN202410796324.4 that when connecting to form a fully automatic glass storage, feeding and processing production workshop, the shuttle machine on the conveyor line feeds or supplies the glass raw sheet area, the glass raw sheet processing area, the glass raw sheet warehouse, the outbound warehouse area and the finished product warehouse. There is always a waiting problem during transportation. Since the system sets the passing priority, the next priority feed cannot skip the next priority feed. This results in the need to wait for the conveyor with the higher priority to finish conveying and vacate the common conveying track before the next priority feed can proceed to the next step of feeding. This causes a certain process to be in a waiting state when there is a shortage of materials. At the same time, in the processing of expedited orders, it is necessary to stop the normal feeding operation and rearrange the glass processing or delivery of the expedited order in order to continue processing, which is very inconvenient for production scheduling and flexible processing of orders. Summary of the invention

[0004] The objective to be achieved by the present invention is as follows: In the prior art, when glass cutting equipment and glass storage are connected under the premise of shuttle feeding, there is always a waiting problem. Since the system sets a passing priority, the next-level priority feed cannot skip the level of feed. This results in having to wait for the conveyor with a higher priority to complete the delivery and vacate the common track for delivery before the next-level priority feed can proceed to the next step of feeding. This results in a technical problem that a certain process is in a waiting state when there is a shortage of materials.

[0005] In order to achieve the above objectives, the present invention provides a high storage density glass intelligent storage system and a control method.

[0006] The specific technical solution adopted by the present invention is:

[0007] A control method for a high storage density glass intelligent storage system, the method comprising:

[0008] Obtaining first specification information of the incoming glass original sheet, second specification information and first location information of the stocked glass original sheet, and outbound information of the glass original sheet;

[0009] Obtain glass raw material processing order information;

[0010] Acquiring second position information of the shuttle;

[0011] Build the shuttle control database;

[0012] Inputting the first specification information, the second specification information, the first location information, the glass original sheet processing order information, the glass original sheet outbound information and the second location information into the shuttle control database, and obtaining the initial path control parameters of each shuttle and the initial path priority of each shuttle;

[0013] Acquire the real-time position information and loading information of each shuttle; construct a path fine-tuning control model based on the real-time position information and loading information of the shuttle and the path priority of each shuttle;

[0014] Determine whether interference occurs at the intersection of the shuttle paths based on the real-time position information of each shuttle and the initial path control parameters;

[0015] The judgment result of whether interference occurs, the loading information input and the corresponding shuttle path priority are input into the path fine-tuning control model for training, verification and testing until the impact time of path adjustment on the process is minimized, and the path adjustment control parameters of the corresponding shuttle are output.

[0016] Furthermore, it is characterized in that building a shuttle control database comprises:

[0017] Determine the storage location of the incoming glass sheet according to the first specification information of the incoming glass sheet and the second specification information of the stock glass sheet, and call the available shuttle according to the second position information of the shuttle;

[0018] According to the glass original sheet processing order information, the second specification information of the stock glass original sheet and the second position information of the shuttle, the fetching position of the required glass original sheet is determined, and the available shuttle is called according to the second position information of the shuttle to shorten the delivery time;

[0019] The fetching position of the required glass original sheet is determined according to the outgoing information of the glass original sheet and the second specification information of the stocked glass original sheet, and the available shuttle is called according to the second position information of the shuttle to shorten the conveying time.

[0020] Furthermore, the determination of the initial path priority of the shuttle includes:

[0021] Compare the incoming glass sheets, the glass sheet processing order information and the glass sheet delivery information, estimate the processing time of a single glass sheet, the time it takes to put the incoming glass sheets into storage and the time it takes to deliver the glass sheets, and the corresponding urgency;

[0022] The path priority of the corresponding shuttle is determined based on the processing time of a single glass sheet, the time taken to put the incoming glass sheet into storage, the time taken to get the glass sheet out of storage, and the corresponding urgency.

[0023] Furthermore, building a path fine-tuning control model includes:

[0024] According to the initial path control parameters of each shuttle and the path priority of each shuttle, the initial path of each shuttle and the initial passing order are obtained;

[0025] Real-time comparison of the processing time of a single glass sheet, the time it takes to put the incoming glass sheet into storage, and the time it takes to get the glass sheet out of storage, to determine their respective progress and the urgency of the glass sheet transportation;

[0026] Obtaining the real-time conveying position of the corresponding shuttle and the corresponding initial passing sequence, taking the real-time conveying position as a reference, and adjusting the conveying sequence of the glass sheets cyclically according to the sequence of urgency according to the corresponding initial passing sequence;

[0027] Under the adjusted conveying sequence of various glass sheets, the time consumption of the incoming glass sheets entering the warehouse, the time consumption of the glass sheets required for processing a single glass sheet, and the time consumption of the glass sheets leaving the warehouse are calculated through the optimization mathematical model;

[0028] The adjustment sequence with the smallest sum of the time taken for the incoming glass sheets to enter the warehouse, the time taken for the supply of glass sheets required for processing a single glass sheet, and the time taken for the glass sheets to leave the warehouse is selected as the path adjustment control parameter of the corresponding shuttle.

[0029] A high storage density glass intelligent storage system based on a high storage density glass intelligent storage system control method, the high storage density glass intelligent storage system comprising:

[0030] In the feeding glass original sheet area, the first specification information of the feeding glass original sheet is input into the control system, and the glass original sheet is hoisted to the shuttle in the conveyor line, and the glass original sheet is transported to the designated position of the glass original sheet warehouse by the shuttle in the conveyor line and stored;

[0031] In the glass sheet processing area, after the control system obtains the glass sheet processing order information, it obtains the specified glass sheet from the glass sheet warehouse, and sends the glass sheet to the glass sheet processing area through the shuttle in the conveyor line for processing. The processed finished glass slices are sent to the finished product warehouse by the shuttle in the conveyor line for temporary storage;

[0032] The glass original sheet library is used to temporarily store the glass original sheets and provide the control system with the second specification information of the glass original sheets in stock;

[0033] The outbound area, including the original glass outbound area and the finished glass slice outbound area, obtains the corresponding finished glass slices or original glass sheets from the finished product warehouse or the original glass warehouse for delivery according to the order through the shuttle in the conveyor line.

[0034] Finished product warehouse, used to temporarily store finished glass slices and send inventory information of finished glass slices to the control system;

[0035] The conveyor line connects the raw glass feeding area, the raw glass processing area, the raw glass warehouse, the outgoing warehouse area and the finished product warehouse. The control system controls the shuttle in the conveyor line to take the raw glass or finished glass slices, and convey the raw glass or finished glass slices;

[0036] The control system obtains the first specification information, the second specification information, the first position information, the glass original sheet processing order information, the glass original sheet outbound information and the second position information from the feeding glass original sheet area, the glass original sheet processing area, the glass original sheet warehouse, the outbound area and the finished product warehouse and the conveyor line, inputs the first specification information, the second specification information, the first position information, the glass original sheet processing order information, the glass original sheet outbound information and the second position information into the shuttle control database, performs control operations, and outputs the optimal control parameters.

[0037] Furthermore, the conveying line is provided with an inflection point, and a temporary storage line is provided at the inflection point for temporarily storing the shuttle.

[0038] Furthermore, the temporary storage line is connected to the control system to send the number and serial number of the temporary storage shuttles in real time.

[0039] Furthermore, a rotating conveying tilting platform is provided at the inflection point, the loading inclination angle of the tilting platform is 2.5° to 3.5°, the bottom and back of the rotating conveying tilting platform are provided with driving rubber rollers, the front side of the rotating conveying tilting platform is provided with anti-tipping rubber rollers, and the rotating conveying tilting platform is provided with a servo motor, which controls the rotating conveying tilting platform to achieve 360-degree rotation.

[0040] The positive effect of the present invention is that by collecting the first specification information, the second specification information, the first position information, the glass original sheet processing order information, the glass original sheet outbound information and the second position information and inputting them into the shuttle control database, the initial path control parameters and the initial path priority of each shuttle are obtained, and the impact time of the path adjustment on the process can be minimized in the training, verification and testing of the path fine-tuning control model, and the path adjustment control parameters of the corresponding shuttle are output, so that the glass original sheet in the automatic glass processing after the equipment is connected is realized. Figure 1In the application scenario shown, the path priority is partially adjusted, which breaks the problem in the prior art that the next-level priority material cannot skip the priority level due to the passing priority set by the system. This results in the need to wait for the conveyor with a higher priority to complete the delivery and vacate the common track for delivery before the next-level priority material can proceed to the next step of feeding. This causes a certain process to be in a waiting state when there is a shortage of materials. At the same time, it can also flexibly handle urgent orders and realize queue-jumping processing of urgent orders without considering the established delivery priority, thereby realizing flexible control of delivery. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a system and structural schematic diagram of an application of a high storage density glass intelligent storage system and control method in the present invention;

[0042] Figure 2 yes Figure 1 A flow chart of a control method in a high storage density glass intelligent storage system and control method of the present invention;

[0043] Figure 3 It is a flow chart of constructing a shuttle control database in a high storage density glass intelligent storage system and control method of the present invention;

[0044] Figure 4 It is a flow chart of determining the initial path priority of a shuttle in a high storage density glass intelligent storage system and control method of the present invention;

[0045] Figure 5 It is a flow chart of constructing a path fine-tuning control model in a high storage density glass intelligent storage system and control method in the present invention;

[0046] Legend: 1—feeding glass sheet area, 2—first glass sheet processing area, 3—first shuttle, 4—conveyor line, 5—second shuttle, 6—third shuttle, 7—first turning point, 8—fourth shuttle, 9—glass sheet outbound area, 10—first truck, 11—finished glass slice outbound area, 12—second truck, 13—second turning point, 14—temporary storage line, 15—third turning point, 16—co-linear area, 17—fourth turning point, 18—feeding line, 19—processing waiting area, 20—second glass sheet processing area, 21—shuttle track. DETAILED DESCRIPTION

[0047] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following, in combination with the drawings and embodiments, a high storage density glass intelligent storage system and control method proposed in accordance with the present invention, its specific implementation method, structure, characteristics and effects are described in detail.

[0048] In the following description, different references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, particular features, structures, or characteristics in one or more embodiments may be combined in any suitable form.

[0049] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0050] The acquisition, storage, use, and processing of data in the technical solution of the present invention are in compliance with the relevant provisions of national laws and regulations.

[0051] This application is applicable to the implementation of Chinese utility model patent CN202223608381.0, Chinese utility model patent CN202320060968.8, invention patent CN202310120850.4, invention patent CN202310120857.6 and Chinese invention patent CN202410796324.4. It is found that when the fully automatic glass storage, feeding and processing production workshop is connected, there is always a waiting problem when the shuttle machine feeds or transports the feeding glass original sheet area, the glass original sheet processing area, the glass original sheet warehouse, the outbound area and the finished product warehouse on the conveyor line. Because the system sets the passing priority, the next priority feed cannot skip the level of feed, which results in the need to wait for the conveyor with the front priority to finish conveying and vacate the common track for conveying before the next priority feed can proceed to the next step of feeding, which results in a waiting state for a certain process when there is a shortage of materials;

[0052] At the same time, in the processing of expedited orders, it is necessary to stop the normal feeding operation and rearrange the glass processing or delivery of the expedited orders in order to continue processing. This is a very inconvenient technical problem for production scheduling and flexible processing of orders. The following is a detailed description of a high storage density glass intelligent warehousing system control method and its locking device provided by the present invention in conjunction with the accompanying drawings.

[0053] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments:

[0054] like Figures 1 to 5 As shown, a control method for a high storage density glass intelligent storage system, the control method comprising:

[0055] S100: Acquire first specification information of the incoming glass original sheet, second specification information and first location information of the stocked glass original sheet, and outbound information of the glass original sheet;

[0056] S200: Obtaining glass sheet processing order information;

[0057] S300: Acquire the second position information of the shuttle;

[0058] S400: Building a shuttle control database;

[0059] Among them, building the shuttle control database includes:

[0060] S401: Determine the storage location of the incoming glass sheet according to the first specification information of the incoming glass sheet and the second specification information of the stock glass sheet, and call an available shuttle according to the second position information of the shuttle;

[0061] S402: Determine the pick-up position of the required glass original sheet according to the glass original sheet processing order information, the second specification information of the stock glass original sheet and the second position information of the shuttle, and call the available shuttle according to the second position information of the shuttle to shorten the delivery time;

[0062] S404: Determine the pickup position of the required glass original sheets according to the outbound information of the glass original sheets and the second specification information of the stocked glass original sheets, and call the available shuttle according to the second position information of the shuttle to shorten the delivery time.

[0063] S500: inputting the first specification information, the second specification information, the first location information, the glass original sheet processing order information, the glass original sheet outbound information and the second location information into the shuttle control database to obtain the initial path control parameters of each shuttle and the initial path priority of each shuttle;

[0064] The determination of the initial path priority of the shuttle includes:

[0065] S501: Compare the incoming glass sheets, the glass sheet processing order information and the glass sheet outbound information, estimate the processing time of a single glass sheet, the incoming glass sheet storage time and the glass sheet outbound time, and the corresponding urgency;

[0066] S502: Determine the path priority of the corresponding shuttle according to the processing time of the single glass original sheet, the time taken for the incoming glass original sheet to enter the warehouse, the time taken for the glass original sheet to leave the warehouse and the corresponding urgency;

[0067] S600: Acquire the real-time position information and loading information of each shuttle; construct a path fine-tuning control model based on the real-time position information and loading information of the shuttle and the path priority of each shuttle;

[0068] Among them, building a path fine-tuning control model includes:

[0069] S601: Obtaining the initial path and initial passing order of each shuttle according to the initial path control parameters of each shuttle and the path priority of each shuttle;

[0070] S602: Compare the processing time of a single glass sheet, the time taken to put the incoming glass sheet into the warehouse, and the time taken to take the glass sheet out of the warehouse in real time, determine the respective progress, and determine the urgency of transporting the glass sheet;

[0071] S603: obtaining the real-time conveying position of the corresponding shuttle and the corresponding initial passing sequence, taking the real-time conveying position as a reference, and adjusting the conveying sequence of the glass sheets cyclically according to the sequence of the urgency, according to the corresponding initial passing sequence;

[0072] S604: Under the adjusted conveying sequence of various glass sheets, the time consumption of the incoming glass sheets, the time consumption of the glass sheets required for processing a single glass sheet, and the time consumption of the glass sheets leaving the warehouse are calculated by using an optimization mathematical model;

[0073] Among them, the optimization mathematical model is used for calculation, and the specific optimization mathematical model is not limited here. Since the optimization mathematical model is used to process data, the data results that meet the requirements are obtained, which is a mature existing technology. For example, the "Several Model Solutions Based on LINGO" by Cheng Mengyu and Liang Youming, which is collected by the National Science and Technology Library, introduces in detail the mathematical model for solving the optimal problem. However, this step emphasizes that the time consumption of the incoming glass original sheet entering the warehouse, the time consumption of the glass original sheet required for the processing of the single glass original sheet, and the time consumption of the glass original sheet leaving the warehouse obtained by these existing most effective algorithms are necessary data for solving the technical problems of the present invention.

[0074] S605: Selecting the adjustment sequence with the smallest sum of the time taken for the incoming glass sheets to enter the warehouse, the time taken for the glass sheets to be supplied for the processing of the single glass sheet, and the time taken for the glass sheets to leave the warehouse as the path adjustment control parameter of the corresponding shuttle;

[0075] S700: Determine whether interference occurs at the intersection of the shuttle paths based on the real-time position information of each shuttle and the initial path control parameters;

[0076] S800: The judgment result of whether interference occurs, the loading information input and the corresponding shuttle path priority are input into the path fine-tuning control model for training, verification and testing until the impact time of the path adjustment on the process is minimized, and the path adjustment control parameters of the corresponding shuttle are output.

[0077] The initial path control parameters of each shuttle and the initial path priority of each shuttle are fine-tuned according to the path adjustment control parameters to solve the technical problem that the next-level priority feed cannot skip the priority level due to the passing priority set by the system, which results in the need to wait for the conveyor with a higher priority to complete the conveying and vacate the common track for conveying before the next-level priority feed can proceed to the next step of feeding.

[0078] Among them, the training verification and testing of the path fine-tuning control model are carried out based on the existing technology, and can be carried out based on the BP neural network. At this time, it is necessary to establish the interference judgment result, the loading information input and the corresponding shuttle path priority and the impact time. One-to-one correspondence; AI model training can also be used. At this time, it is necessary to calibrate repeatedly until the training obtains a path that meets the requirements, and then it can be put into production. The focus of the present invention is to use these model trainings to quickly collect and screen to obtain the ideal path. As for the underlying framework of the BP neural network or the AI ​​model, it is not the focus of the present invention.

[0079] In this embodiment, by collecting the first specification information, the second specification information, the first position information, the glass original sheet processing order information, the glass original sheet outbound information and the second position information and inputting them into the shuttle control database, the initial path control parameters and the initial path priority of each shuttle are obtained, and the path fine-tuning control model training verification and testing can minimize the impact time of the path adjustment on the process, and the path adjustment control parameters of the corresponding shuttle are output, so that the glass original sheet in the automatic glass processing after the equipment is connected is realized. Figure 1 In the application scenario shown, the path priority is partially adjusted, which breaks the problem in the prior art that the next-level priority material cannot skip the priority level due to the passing priority set by the system. This results in the need to wait for the conveyor with a higher priority to complete the delivery and vacate the common track for delivery before the next-level priority material can proceed to the next step of feeding. This causes a certain process to be in a waiting state when there is a shortage of materials. At the same time, it can also flexibly handle urgent orders and realize queue-jumping processing of urgent orders without considering the established delivery priority, thereby realizing flexible control of delivery.

[0080] A high storage density glass intelligent storage system based on a high storage density glass intelligent storage system control method, the high storage density glass intelligent storage system comprising:

[0081] Feeding glass original sheet area 1, inputting the first specification information of the feeding glass original sheet into the control system, and hoisting the glass original sheet to the shuttle in the conveyor line, and conveying the glass original sheet to the designated position of the glass original sheet warehouse through the shuttle in the conveyor line and storing it;

[0082] Specifically, a feeding line 18 is provided on the side of the glass raw sheet area 1, and a shuttle is provided on the feeding line 18. The loading angle of the tilting table of the shuttle is 2.5°+3.5°. The loading is performed manually or by AGV hoisting. Drive rubber rollers are arranged on the bottom and the back, and an anti-tilt device is arranged on the front. According to the size of the raw sheet, the raw sheet is divided into three sizes, large, medium and small, corresponding to the three types of glass racks on site; the raw sheet loading function can be realized.

[0083] In the glass sheet processing area, after the control system obtains the glass sheet processing order information, it obtains the specified glass sheet from the glass sheet warehouse, and sends the glass sheet to the glass sheet processing area through the shuttle in the conveyor line for processing. The processed finished glass slices are sent to the finished product warehouse by the shuttle in the conveyor line for temporary storage;

[0084] Specifically, the glass sheet processing area includes a first glass sheet processing area 2 and a second glass sheet processing area 20, which can realize cutting, edge grinding and marking of the glass sheets. The processing area is provided with a processing waiting area 19 for storing unprocessed glass sheets and finished glass sheets that have been processed but not transported away in time.

[0085] The glass original sheet library is used to temporarily store the glass original sheets and provide the control system with the second specification information of the glass original sheets in stock;

[0086] Specifically, the storage location of the glass original sheet warehouse is 20 meters wide, and the total length is 320 meters according to the workshop layout. The storage location is designed according to the 4880×3300 original sheet, and the storage location thickness is 120mm. Each storage location of 20 meters can store four packages of 4880×3300 original sheets, and the corresponding storage area can store 6400 packages of 4880×3300 glass original sheets. The storage bottom is equipped with four guide rails, and a movable shuttle is arranged on the guide rails. The shuttle has a lifting transmission roller. When entering and exiting the warehouse, the movable shuttle moves to the designated position according to the entry and exit requirements to complete the entry and exit actions. If the storage size of small glass original sheets is small, the thickness of 120mm cannot meet the thickness requirements of the original sheets. The storage location needs to determine the thickness according to the actual situation. The width of the movable shuttle rubber roller is not universal with the thickness of 120mm. For each additional storage location with a thickness specification, 2 movable shuttles need to be added.

[0087] The outbound area, including the original glass outbound area 9 and the finished glass slice outbound area 11, obtains the corresponding finished glass slices or original glass sheets from the finished product warehouse or the original glass warehouse for delivery according to the order through the shuttle in the conveyor line.

[0088] Specifically, in order to improve the turnover efficiency, ten shipping racks are arranged in the outbound area. The structure of the shipping rack is the same as the aforementioned tilting table. Different shipping racks are configured according to the three types of original sheets, large, medium and small. For example, the original glass sheets outbound area 9 can be temporarily stored according to the ten shipping racks corresponding to different movable shuttles, and the first truck 10 will take them away. Similarly, the finished glass slices outbound area 11 can be temporarily stored according to the ten shipping racks corresponding to different movable shuttles, and the second truck 12 will take them away.

[0089] Finished product warehouse has the same structure as the original glass warehouse, except that the glass stored therein is finished glass that has been cut and edged according to order requirements. It is used to temporarily store finished glass slices and send the inventory information of finished glass slices to the control system.

[0090] The conveyor line connects the raw glass feeding area, the raw glass processing area, the raw glass warehouse, the outgoing warehouse area and the finished product warehouse. The control system controls the shuttle in the conveyor line to take the raw glass or finished glass slices, and convey the raw glass or finished glass slices;

[0091] Specifically, the conveyor line is divided into 4 parts:

[0092] Straight-line conveying part, such as the common-line area 16, the third shuttle 6: the shuttle in the straight-line part is provided with a tilting platform, the tilting angle of the material on the tilting platform is about 2.5°-3.5°, the bottom and the back are equipped with driving rubber rollers, and the front side is equipped with anti-tilting rubber rollers, which can realize the straight-line conveying of the original sheet;

[0093] Rotating conveying part, such as the fourth turning point 17: The shuttle car of the rotating conveying part is provided with a tilting platform, the tilting angle of the tilting platform is about 2.5°, the bottom and the back are equipped with driving rubber rollers, the front side is equipped with anti-tilting rubber rollers, and the servo motor control can realize 360-degree rotation;

[0094] The shuttles can be moved, such as the first shuttle 3, the second shuttle 5, and the fourth shuttle 8. These shuttles can move autonomously along the shuttle track 21 of the conveyor line. These shuttles are provided with a tilting table. The material inclination angle on the tilting table is adjustable from 2.5° to 10°. The bottom and the back are provided with driving rubber rollers. After the shuttle removes the glass, the back is adjusted from 2.5° to 8°, and the front pressure rod is lowered to press the glass original piece to prevent tipping. The shuttle runs back and forth along the shuttle track 21.

[0095] The control system obtains the first specification information, the second specification information, the first position information, the glass original sheet processing order information, the glass original sheet outbound information and the second position information from the feeding glass original sheet area, the glass original sheet processing area, the glass original sheet warehouse, the outbound area and the finished product warehouse and the conveyor line, inputs the first specification information, the second specification information, the first position information, the glass original sheet processing order information, the glass original sheet outbound information and the second position information into the shuttle control database, performs control operations, and outputs the optimal control parameters.

[0096] Furthermore, the conveying line is provided with inflection points, such as the first inflection point 7, the second inflection point 13, and the third inflection point 15; temporary storage lines are provided at the inflection points, such as the temporary storage line 14 for temporarily storing the movable shuttle.

[0097] Furthermore, the temporary storage line is connected to the control system to send the number and serial number of the temporary storage shuttles in real time.

[0098] Furthermore, a rotating conveying tilting platform is provided at the inflection point, the loading inclination angle of the tilting platform is 2.5° to 3.5°, the bottom and back of the rotating conveying tilting platform are provided with driving rubber rollers, the front side of the rotating conveying tilting platform is provided with anti-tipping rubber rollers, and the rotating conveying tilting platform is provided with a servo motor, which controls the rotating conveying tilting platform to achieve 360-degree rotation.

[0099] In this embodiment, the controller obtains the target glass sheet position information to generate a traction locker motion control database, and determines whether the roller is slipping through the target glass sheet position information and the first starting torque, and generates the initial acceleration control parameters, initial uniform speed control parameters and initial deceleration control parameters of the film retrieval machine according to the length of the position number from the film retrieval machine and the feeding time given by the glass sheet retrieval and placement instructions to control the movement speed of the film retrieval machine; the film retrieval machine motion control database generates the deceleration control data of the film retrieval machine according to the determination result and the real-time speed of the film retrieval machine, and makes real-time adjustments through the second detection data, so as to completely solve the roller slippage phenomenon caused by the motor torque from the control aspect, and realize it through the cooperation of the sensor and the positioning pin, and change the control logic of the locking device, so as to solve the technical problem of inaccurate positioning caused by roller slippage, and achieve the purpose of improving positioning accuracy at low cost.

[0100] The foregoing has broadly outlined some aspects and features of various embodiments, which should be construed as merely illustrative of various potential applications. Other beneficial results may be obtained by applying the disclosed information in different ways or by combining various aspects of the disclosed embodiments. Other aspects and a more comprehensive understanding may be obtained by reference to the detailed description of the exemplary embodiments in conjunction with the accompanying drawings, within the scope defined by the claims.

[0101] The above embodiments have been described in detail. Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions, reductions, and substitutions made by relevant technicians within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. A high storage density glass intelligent storage system control method, characterized in that: The method comprises: Obtaining first specification information of the incoming glass original sheet, second specification information and first location information of the stocked glass original sheet, and outbound information of the glass original sheet; Obtain glass raw material processing order information; Acquiring second position information of the shuttle; Build the shuttle control database; Inputting the first specification information, the second specification information, the first location information, the glass original sheet processing order information, the glass original sheet outbound information and the second location information into the shuttle control database, and obtaining the initial path control parameters of each shuttle and the initial path priority of each shuttle; Acquire the real-time position information and loading information of each shuttle; construct a path fine-tuning control model based on the real-time position information and loading information of the shuttle and the path priority of each shuttle; Determine whether interference occurs at the intersection of the shuttle paths based on the real-time position information of each shuttle and the initial path control parameters; The judgment result of whether interference occurs, the loading information input and the corresponding shuttle path priority are input into the path fine-tuning control model, and training verification and testing are performed until the impact time of the path adjustment on the process is minimized, and the path adjustment control parameters of the corresponding shuttle are output; Among them, building the shuttle control database includes: Determine the storage location of the incoming glass sheet according to the first specification information of the incoming glass sheet and the second specification information of the stock glass sheet, and call the available shuttle according to the second position information of the shuttle; According to the glass original sheet processing order information, the second specification information of the stock glass original sheet and the second position information of the shuttle, the fetching position of the required glass original sheet is determined, and the available shuttle is called according to the second position information of the shuttle to shorten the delivery time; Determine the fetching position of the required glass original sheet according to the outgoing information of the glass original sheet and the second specification information of the stocked glass original sheet, and call the available shuttle according to the second position information of the shuttle to shorten the delivery time; The determination of the initial path priority of the shuttle includes: Compare the incoming glass sheets, the glass sheet processing order information and the glass sheet delivery information, estimate the processing time of a single glass sheet, the time it takes to put the incoming glass sheets into storage and the time it takes to deliver the glass sheets, and the corresponding urgency; The path priority of the corresponding shuttle is determined based on the processing time of a single glass sheet, the time taken to put the incoming glass sheet into storage, the time taken to get the glass sheet out of storage, and the corresponding urgency.

2. According to claim 1, a high storage density glass intelligent storage system control method is characterized in that: Building a fine-tuning control model for the path includes: According to the initial path control parameters of each shuttle and the path priority of each shuttle, the initial path of each shuttle and the initial passing order are obtained; Real-time comparison of the processing time of a single glass sheet, the time it takes to put the incoming glass sheet into storage, and the time it takes to get the glass sheet out of storage, to determine their respective progress and the urgency of the glass sheet transportation; Obtaining the real-time conveying position of the corresponding shuttle and the corresponding initial passing sequence, taking the real-time conveying position as a reference, and adjusting the conveying sequence of the glass sheets cyclically according to the sequence of urgency according to the corresponding initial passing sequence; Under the adjusted conveying sequence of various glass sheets, the time consumption of the incoming glass sheets entering the warehouse, the time consumption of the glass sheets required for processing a single glass sheet, and the time consumption of the glass sheets leaving the warehouse are calculated through the optimization mathematical model; The adjustment sequence with the smallest sum of the time taken for the incoming glass sheets to enter the warehouse, the time taken for the supply of glass sheets required for processing a single glass sheet, and the time taken for the glass sheets to leave the warehouse is selected as the path adjustment control parameter of the corresponding shuttle.

3. A high storage density glass intelligent storage system based on a high storage density glass intelligent storage system control method according to any one of claims 1 to 2, characterized in that: The high storage density glass intelligent storage system comprises: In the feeding glass original sheet area, the first specification information of the feeding glass original sheet is input into the control system, and the glass original sheet is hoisted to the shuttle in the conveyor line, and the glass original sheet is transported to the designated position of the glass original sheet warehouse by the shuttle in the conveyor line and stored; In the glass sheet processing area, after the control system obtains the glass sheet processing order information, it obtains the specified glass sheet from the glass sheet warehouse, and sends the glass sheet to the glass sheet processing area through the shuttle in the conveyor line for processing. The processed finished glass slices are sent to the finished product warehouse by the shuttle in the conveyor line for temporary storage; The glass original sheet library is used to temporarily store the glass original sheets and provide the control system with the second specification information of the glass original sheets in stock; The outbound area includes the original glass outbound area and the finished glass slice outbound area. The shuttle in the conveyor line obtains the corresponding finished glass slices or original glass sheets from the finished product warehouse or the original glass warehouse according to the order for delivery; The conveyor line connects the raw glass feeding area, the raw glass processing area, the raw glass warehouse, the outgoing warehouse area and the finished product warehouse. The control system controls the shuttle in the conveyor line to take the raw glass or finished glass slices, and convey the raw glass or finished glass slices; The control system obtains the first specification information, the second specification information, the first position information, the glass original sheet processing order information, the glass original sheet outbound information and the second position information from the feeding glass original sheet area, the glass original sheet processing area, the glass original sheet warehouse, the outbound area and the finished product warehouse and the conveyor line, inputs the first specification information, the second specification information, the first position information, the glass original sheet processing order information, the glass original sheet outbound information and the second position information into the shuttle control database, performs control operations, and outputs the optimal control parameters.

4. According to claim 3, a high storage density glass intelligent storage system is characterized in that: The conveying line is provided with an inflection point, and a temporary storage line is provided at the inflection point for temporarily storing the shuttle.

5. The high storage density glass intelligent storage system according to claim 4, characterized in that: The temporary storage line is connected to the control system and sends the number and serial number of the temporary storage shuttles in real time.

6. The high storage density glass intelligent storage system according to claim 5, characterized in that: A rotating conveying tilting platform is provided at the inflection point, the loading inclination angle of the tilting platform is 2.5° to 3.5°, driving rubber rollers are arranged at the bottom and back of the rotating conveying tilting platform, anti-tilting rubber rollers are arranged at the front side of the rotating conveying tilting platform, and a servo motor is provided on the rotating conveying tilting platform, which controls the rotating conveying tilting platform to realize 360-degree rotation.

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