Method and system for evaluating reachability of goods in general warehouse hoisted by travelling crane
By grid division and accessibility set formation of general warehouses for driving and lifting, the problems of low warehouse space utilization and unreliable cargo access are solved, and efficient cargo storage and withdrawal are achieved.
Patent Information
- Application Number
- CN202411503967.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-25
- Publication Date
- 2024-12-27
AI Technical Summary
In the prior art, the warehouse space utilization rate of general warehouses for driving cranes and unreliable calculations of goods accessibility lead to low cargo storage and access efficiency.
By dividing the cargo storage area in the warehouse, the passability of each grid is calculated and the accessibility set is formed, including the uppermost cargo and the grid adjacent to the shipment port of the goods to be calculated, using processing The machine executes a computer program to achieve cargo accessibility evaluation.
It improves the space utilization rate of the warehouse and cargo storage and access efficiency, ensures reliable accessibility calculation of goods, and provides flexible cargo route selection.
Smart Images
Figure CN119204953A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a method and system for evaluating cargo accessibility in a general warehouse for crane-lifting transportation, and belongs to the technical field of cargo accessibility calculation. Background Art
[0002] Universal warehouses that are crane-lifted are widely used in both civil and military fields. In the civil field, universal warehouses that are crane-lifted have the characteristics of simple facilities, small investment, and strong adaptability, and can be used to store various daily industrial products or agricultural and sideline products.
[0003] At present, there are usually two ways to deal with the accessibility of goods in general warehouses for crane hoisting in the civil field. One way is to have a warehouse with sufficient height, but the height of the goods stacking is low, or to leave a sufficiently wide cargo storage and transfer channel, so that all stacked goods can be accessible; the other way is to rely on experience or manual calculation to solve the accessibility problem of goods during the arrangement, stacking and storage and retrieval of goods.
[0004] However, the first method has the problem of low warehouse space utilization; the second method often has omissions when calculating the accessibility of goods. When subsequently storing and retrieving goods, it is sometimes necessary to first lift away other goods that hinder the storage and retrieval of the goods before the storage and retrieval of the goods can be completed, resulting in a significant reduction in the storage and retrieval efficiency of the goods. Summary of the invention
[0005] The purpose of the present invention is to provide a method and system for evaluating the accessibility of cargo in a general warehouse using a crane, so as to solve the problems in the prior art of low warehouse space utilization and low cargo access rate caused by unreliable methods for calculating cargo accessibility.
[0006] To achieve the above object, the solution of the present invention includes:
[0007] A method for evaluating the accessibility of cargo in a general warehouse for crane lifting of the present invention divides the cargo storage area in the warehouse into plane grids according to the basic units obtained by the plane projection of the top layer of cargo in a single cargo stack for which accessibility is to be calculated; the passability of the grid corresponding to the top layer of cargo is calculated according to the maximum value of the stacking heights of all cargoes in a grid, the height of the top layer of cargo in a single cargo stack for which accessibility is to be calculated, and the net lifting height of the warehouse lifting equipment; the passable grids are continuously connected in adjacent directions to form a temporary set, and an accessibility set is searched in the temporary set, the accessibility set including the grid where the top layer of cargo in the single cargo stack for which accessibility is to be calculated is located and the grids adjacent to the shipping port.
[0008] Furthermore, the steps for obtaining the reachability set are as follows: traverse each grid in turn; if the grid is passable, put the grid in a temporary set, push the grids adjacent to the grid and passable into the stack, otherwise continue to traverse the next grid; when traversing a grid and there are pushed grids in the stack, pop the grid on the top of the stack, put the grid in the temporary set, and then push the grids adjacent to the popped grid and passable into the stack according to the four-neighborhood relationship, and repeat the above steps until the stack is empty; continue to traverse the next grid that is not in the set, and repeat the above steps to generate a new temporary set; check each temporary set, if the temporary set includes both the grid where the top layer of the single cargo stack to be calculated for reachability is located and the grid adjacent to the shipping port, then the set is a reachability set.
[0009] Furthermore, the basic unit is obtained by extending a safety distance to both ends in directions of two sides perpendicular to each other, based on the plane projection of the top layer of goods in a single stack of goods whose accessibility is to be calculated.
[0010] Furthermore, when dividing the grids, a safety distance is shared between two adjacent grids.
[0011] Furthermore, when calculating the accessibility of the top layer of cargo corresponding to a grid, the safety distance in the height direction is also used. The safety distance in the height direction is the safety distance between the top layer of cargo of a single cargo stack to be calculated for accessibility and the top of the stack with the maximum cargo stacking height in the grid when the top layer of cargo is hoisted.
[0012] Furthermore, the passability calculation formula is as follows:
[0013]
[0014] Among them, DH is the net lifting height of the warehouse lifting equipment, h (i,j)max The grid w i,j The maximum value of the height of all cargo stacking in the stack; H is the height of the top layer of cargo in a single cargo stack whose accessibility is to be calculated; SH is the safety distance in the height direction; w i,j =1 means the grid is passable, w i,j =0 means that the grid is impassable.
[0015] Furthermore, the maximum value of the stacking height of all goods in the grid is calculated as follows: i,j The height of all the goods stacked in the stack is marked as h in order from left to right and from top to bottom. i,j,1 ,h i,j,2 ,…,h i,j,k , grid w i,j The maximum stacking height of all goods in the stacking process is h (i,j)max =max(hi,j,1 ,h i,j,2 ,…,h i,j,k , …).
[0016] Furthermore, the topmost cargo of a single cargo stack with an accessibility set and without an accessibility set are distinguished in a human-machine interface, and the distinguishing method includes at least one of color, letter and digital coding.
[0017] A system for evaluating the accessibility of cargo in a general warehouse using a crane for crane transportation includes a processor for executing a computer program to implement the steps of the above method for evaluating the accessibility of cargo in a general warehouse using a crane for crane transportation.
[0018] The beneficial effects of the present invention are as follows: the present invention provides a method and system for evaluating the accessibility of cargo in a general warehouse for crane lifting, which divides the cargo storage area in the warehouse into plane grids according to the basic units obtained by the plane projection of the top layer of cargo in a single cargo stack whose accessibility is to be calculated; the passability of the grid corresponding to the top layer of cargo is calculated according to the maximum value of the height of all cargo stacks in a grid, the height of the top layer of cargo in a single cargo stack whose accessibility is to be calculated, and the net lifting height of the warehouse lifting equipment; the passable grids are continuously connected in adjacent directions to form a temporary set, and the accessibility set is found in the temporary set, and the accessibility set includes the grid where the top layer of cargo in the single cargo stack whose accessibility is to be calculated is located and the grid adjacent to the delivery port. The problem of low warehouse space utilization and low cargo access rate due to unreliable methods of calculating cargo accessibility in the prior art is solved. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is the basic unit of the grid of a certain cargo a;
[0020] Figure 2 It is a storage area for a certain cargo a arranged arbitrarily;
[0021] Figure 3 It is the grid division of the cargo storage area;
[0022] Figure 4 is a general notation for the matrix after meshing;
[0023] Figure 5 It is the four-neighborhood relationship for calculating cargo accessibility;
[0024] Figure 6 It is a map of the cargo storage area after dividing into grids;
[0025] Figure 7 It is a graph of two connected regions formed after reachability calculation. DETAILED DESCRIPTION
[0026] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail in a clear and complete manner in conjunction with the accompanying drawings and embodiments.
[0027] The idea of the present invention is that, when calculating the accessibility of the top layer of goods in a single stack, the storage area of the goods is first divided into grids, and the passability of all grids is calculated to generate a binary network, and then an algorithm is used to calculate the accessibility results of the goods, and finally the accessibility area is stored for operators to flexibly select the outbound route of the goods.
[0028] Method Example:
[0029] This embodiment is described from three levels: stacked goods, type goods, and warehouse goods, and is explained through three aspects: quantitative representation method of goods accessibility, accessibility expression form, and calculation method.
[0030] 1. Quantitative Expression Method of Accessibility
[0031] (1) The accessibility of stacked goods is divided into two levels: red and green. The red accessibility of stacked goods means that the goods on the top of the stack cannot be taken out directly. When the goods need to be taken out, the related goods that hinder the goods from leaving the warehouse need to be lifted out before the goods can be taken out. The green accessibility of stacked goods means that the goods on the top of the stack can be taken out directly.
[0032] (2) Accessibility of goods of a certain type The goods on the top of a certain type of goods stacked in a certain warehouse are divided into three levels: red, yellow, and green. Red accessibility of a certain type of goods means that the goods on the top of a certain type of goods stack cannot be taken out directly; yellow accessibility means that only some of the goods on the top of a certain type of goods stack can be taken out directly; green accessibility means that all the goods on the top of a certain type of goods stack can be taken out directly.
[0033] The yellow accessibility realization degree of the type of goods is represented by "TY", and its value is:
[0034] TY=TA / TN
[0035] Where TY – yellow accessibility of a certain type of goods, expressed as a score;
[0036] TN - the number of stacks of a certain type of goods;
[0037] TA – the number of accessible stacks among all stacks of a certain type of goods.
[0038] (3) The accessibility of warehouse goods is divided into two levels, yellow and green, for the top layer of all goods stacked in a warehouse. Since the goods stack at the front of the warehouse must be green, there is no red level for the accessibility of warehouse goods. The yellow accessibility of warehouse goods means that only the top layer of some goods stacks in the warehouse can be directly shipped out; the green accessibility means that all goods stacks in the warehouse can be directly shipped out.
[0039] The yellow accessibility realization degree of warehouse goods is represented by "CY", and its value is:
[0040] CY=CA / CN
[0041] Where CY – yellow accessibility of goods in a warehouse, expressed as a score;
[0042] CN——the number of goods stacked in a warehouse;
[0043] CA - The number of accessible stacks among all the stacks of goods in a warehouse.
[0044] 2. Representation of reachability
[0045] The cargo accessibility expression form uses letter and number codes to concisely and quantitatively express the cargo accessibility, facilitating the rapid communication and expression of accessibility information.
[0046] (1) The accessibility of stacked goods is expressed as follows:
[0047] DAX—CXXX—HXXX—DXXX
[0048] DAX: DA stacking cargo accessibility code; X is R for red and G for green;
[0049] CXXX: warehouse number. The format and length of the number will be determined according to the specific situation.
[0050] HXXX: Cargo type number. The format and length of the number will depend on the specific situation.
[0051] DXXX: Stacked cargo number. The format and length of the number will be determined based on the specific situation.
[0052] (2) The accessibility of goods of different types is expressed as follows:
[0053] TAX—TA / TN—CXXX—HXXX
[0054] TAX: TA type cargo accessibility code; X is R for red, Y for yellow, G for green. When X is Y, a fraction is added to indicate the TA / TN value.
[0055] TA / TN: Yellow accessibility value of the type of goods, expressed as a score;
[0056] CXXX: warehouse number. The format and length of the number will be determined according to the specific situation.
[0057] HXXX: Goods type number. The format and length of the number will depend on the specific circumstances.
[0058] (3) The accessibility of warehouse goods is expressed as follows:
[0059] CAX—CA / CN—CXXX
[0060] CAX: CA warehouse cargo accessibility code; X=Y means yellow, G means green. When X=Y, a fraction is added to indicate the CA / CN value.
[0061] CA / CN: Yellow accessibility value of warehouse goods, expressed as a score;
[0062] CXXX——Warehouse number. The format and length of the number will be determined based on the specific circumstances.
[0063] 3. Calculation Method of Reachability
[0064] The core of cargo accessibility calculation is the accessibility calculation of the top layer of cargo in a single stack. When the accessibility of the top layer of cargo in each stack in the warehouse is calculated, the accessibility of cargo of the same type and cargo in the warehouse can be calculated based on the calculation results.
[0065] The calculation of the accessibility of the top layer of goods in a single stack consists of four steps: grid division of the storage area, calculation of accessibility to generate a binary grid, calculation of accessibility results, and storage of the accessibility area.
[0066] The overall process of calculating the accessibility of the top layer of cargo a in a certain cargo stack is:
[0067] (1) Grid division of storage area.
[0068] 1) Clearly input the data as follows:
[0069] a. Figure 1 As shown, the length, width and height of the top layer of cargo a in the cargo stack are L, W and H respectively;
[0070] b. When cargo a is hoisted, the safety distance at both ends in the length direction is SL, the safety distance at both ends in the width direction is SW, and the safety distance downward in the height direction is SH;
[0071] c. The net lifting height of the warehouse lifting equipment is DH.
[0072] 2) Taking the plane projection of cargo a as the basic unit, the cargo storage area in the warehouse is divided into plane grids.
[0073] For a certain cargo storage area arranged arbitrarily, such as Figure 2 As shown in the figure, considering that a certain safety distance needs to be left when goods are moved to avoid collision, the plane projection of goods a and the safety distance in the length and width directions should be used as the basic unit; when dividing the grid, take goods a as the starting point and divide the grid along the front, back, left and right directions of goods a. The safety distance is shared between two adjacent grids. The cargo storage area after grid division is as follows Figure 3 shown.
[0074] For the convenience of description, this embodiment uses a matrix form to represent (eg Figure 4 As shown), any grid is w i,j It means that w i,j The value can be 0 or 1, where 1 means that cargo a can pass through the grid, and 0 means that cargo a cannot pass through the grid.
[0075] (2) Calculate the passability of the top layer of cargo.
[0076] 1) Calculate the maximum value h of the stacking height of all goods in the grid (i,j)max :For the grid w i,j All the goods stacked in the warehouse are marked as h in order from left to right and from top to bottom. i,j,1 ,h i,j,2 ,…,h i,j,k , ….h (i,j)max =max(h i,j,1 ,h i,j,2 ,…,h i,j,k , …);
[0077] 2) Calculate the accessibility of the top layer of cargo in the grid according to the maximum height of all cargo stacking in the grid, the height H of the top layer of cargo in a single cargo stack whose accessibility is to be calculated, and the net lifting height DH of the warehouse lifting equipment.
[0078] Similarly, in order to avoid collision, a certain safety distance needs to be left in the height direction. Therefore, the grid w i,j The formula for calculating the passability is:
[0079]
[0080] Among them, 1 means that cargo a can pass through the grid, and 0 means that cargo a cannot pass through the grid.
[0081] 3) Calculate w for all grids i,j value, convert the grid into a binary grid.
[0082] (3) Calculation of reachability results.
[0083] The accessible grids calculated in step (2) are connected continuously in adjacent directions to form a temporary set, and the reachability set is found in the temporary set. The reachability set must include the grid where the top layer of the single cargo stack whose reachability is to be calculated is located and the grid adjacent to the delivery port; if there is no reachability set, the cargo is unreachable. The specific steps are as follows:
[0084] Step 1: Traverse from left to right and from top to bottom Figure 3 Each grid in
[0085] Step 2: If the grid has been traversed, continue to traverse the next grid, otherwise go to step 3;
[0086] Step 3: Use the grid as the starting seed. If the value w of the grid i,j =1, then the grid w i,j Place it in a marked S a1 In the set of Figure 5 , with a certain grid as the center, the grids above, below, left and right are its four neighboring grids), and the grids w adjacent to the grid and passable i,j (i, j values are different from before) are pushed into the stack; if the value w of the grid i,j =0, then repeat step 1;
[0087] Step 4: When a grid is traversed and there is a grid pushed into the stack, pop the top grid w from the stack. i,j , the w i,j Place it on the marked S a1 The stack is then placed on top of the stack according to the specified domain relationship. i,j Nearby grids that meet the conditions w i,j Push into the stack;
[0088] Step 5: Repeat step 4 until the stack is empty;
[0089] Step 6: Repeat step 1 until the entire grid is traversed and a new set is generated, which is recorded as S. a2 , S a3 , …;
[0090] Step 7: Check each set in turn. If the set also includes the grid w corresponding to the item a, i,j , and w corresponding to any one or more grids in the first row (the row adjacent to the shipping port) i,j , then the goods a is reachable and the accessibility is green. The set is marked as goods a reachable and the corresponding set is stored; otherwise, goods a is unreachable.
[0091] An example of the algorithm is as follows:
[0092] Figure 6 is the cargo storage area map after grid division, w i,j Represents the grid position code. The number 1 in the brackets means that cargo a can pass through, and 0 means that cargo a cannot pass through.
[0093] The calculation process of cargo a’s accessibility is as follows:
[0094] Step 1: Traverse the grid w 1,1 , since its value is 0, traverse the next grid until the grid w with a value of 1 1,3 , w 1,3 Put into set S a1 middle;
[0095] Step 2: Find the grid w that meets the conditions according to the four-domain relationship 1,4 、w 2,3 , push it into the stack;
[0096] Step 3: Take w from the top of the stack 2,3 , put into the set S a1 According to the relationship between the four fields, find the w that meets the conditions 2,4 、w 3,3 , pushed into the stack;
[0097] Step 4: Take w from the top of the stack 3,3 , according to the four-domain relationship, find the grid w that meets the conditions 4,4 , push it into the stack;
[0098] Step 5: Take w from the top of the stack 4,3 , according to the four-domain relationship, find the grid w that meets the conditions 4,4 , push it into the stack;
[0099] Step 6: Loop through the above steps until the stack is empty. At this point, the set S a1 The elements contained in are: w 1,3 、w 1,4 、w 2,3 、w 2,4 、w 3,3 、w 4,3 、w 4,4 、w 5,4 、w 5,5 、w 5,6 、w 4,6 、w 3,6 , and then traverse the grid w 1,4 , due to w 1,4 Already traversed, traverse the next grid w 1,5 , traverse the entire grid according to the above steps, and generate 2 sets Sa1 , S a2 , S a2 The elements included are: 3,1 、w 4,1 、w 5,1 、w 5,2 、w 6,1 、w 6,2 、w 6,3 , forming two connected regions, such as Figure 7 shown.
[0100] S a1 The corresponding connected area contains the grid of cargo a, and the connected area is connected to the first row of cargo at the exit, so cargo a is determined to be reachable; S a2 The corresponding connected area does not contain cargo a, so the result is discarded.
[0101] (4) Storage accessibility area.
[0102] The cargo accessibility area of each stack is stored, which can be used by operators to flexibly select cargo routes. After the top layer of the stack is updated, the cargo accessibility calculation results need to be updated in real time.
[0103] System Example:
[0104] The present invention provides a system for evaluating the accessibility of cargo in a general warehouse using a crane and a crane. The system includes a processor, and the processor executes computer program instructions to implement a method for evaluating the accessibility of cargo in a general warehouse using a crane and a crane as described in the method embodiment. The method has been described clearly enough in the method embodiment and will not be repeated here.
Claims
1. A method for evaluating the accessibility of cargo in a general warehouse for crane transportation, characterized in that: The cargo storage area in the warehouse is divided into plane grids according to the basic units obtained by the plane projection of the top layer of cargo in a single cargo stack whose accessibility is to be calculated; the passability of the grid corresponding to the top layer of cargo is calculated according to the maximum value of the height of all cargo stacks in a grid, the height of the top layer of cargo in a single cargo stack whose accessibility is to be calculated, and the net lifting height of the warehouse lifting equipment; the passable grids are continuously connected in adjacent directions to form a temporary set, and the accessibility set is found in the temporary set, and the accessibility set includes the grid where the top layer of cargo in the single cargo stack whose accessibility is to be calculated is located and the grid adjacent to the shipping port.
2. The method for evaluating cargo accessibility of a general warehouse for crane transportation according to claim 1 is characterized in that: The steps for obtaining the reachability set are as follows: traverse each grid in turn; if the grid is passable, put the grid in a temporary set, push the grids adjacent to the grid and passable into the stack, otherwise continue to traverse the next grid; when traversing a grid and there are pushed grids in the stack, pop the grid on the top of the stack, put the grid in the temporary set, and then push the grids adjacent to the popped grid and passable into the stack according to the four-neighborhood relationship, repeat the above steps until the stack is empty; continue to traverse the next grid that is not in the set, repeat the above steps to generate a new temporary set; check each temporary set, if the temporary set includes the grid where the top layer of the single cargo stack to be calculated for reachability is located and the grid adjacent to the shipping port, then the set is a reachability set.
3. The method for evaluating cargo accessibility of a general warehouse for crane transportation according to claim 1 is characterized in that: The basic unit is obtained by extending a safety distance to both ends in the directions of two sides perpendicular to each other, based on the plane projection of the top layer of goods in a single stack of goods whose accessibility is to be calculated.
4. The method for evaluating cargo accessibility of a general warehouse for crane-lifting transportation according to claim 3 is characterized in that: When dividing the grid, the safety distance is shared between two adjacent grids.
5. The method for evaluating cargo accessibility of a general warehouse for crane-lifting transportation according to claim 1 is characterized in that: When calculating the accessibility of the top layer of cargo corresponding to a grid, the safety distance in the height direction is also used. The safety distance in the height direction is the safety distance between the top layer of cargo of the single cargo stack to be calculated for accessibility and the top of the stack with the maximum cargo stacking height in the grid when the top layer of cargo is hoisted.
6. The method for evaluating cargo accessibility of a general warehouse for crane-lifting transportation according to claim 5 is characterized in that: The passability calculation formula is as follows: Among them, DH is the net lifting height of the warehouse lifting equipment, h (i,j)max The grid w i，j The maximum value of the height of all cargo stacking in the above; H is the height of the top layer of cargo in the single cargo stacking whose accessibility is to be calculated; SH is the safety distance in the height direction; w i,j =1 means the grid is passable, w i,j When =0, it means that the grid is impassable.
7. The method for evaluating cargo accessibility of a general warehouse for crane-lifting transportation according to claim 1 is characterized in that: The maximum value calculation steps of all cargo stacking heights in the grid are as follows: i，j The height of all the goods stacked in the warehouse is marked as h in order from left to right and from top to bottom. i，j,1 ,h i，j,2 , ..., h i，j,k , grid w i，j The maximum stacking height of all goods in the stacking process is h (i,j)max =max(h i,j，1 ,h i，j,2 , ..., h i，j，k , ...).
8. The method for evaluating cargo accessibility of a general warehouse for crane-lifting transportation according to claim 1 is characterized in that: The topmost cargo of a single cargo stack with an accessibility set and without an accessibility set are distinguished in a human-machine interface, and the distinguishing method includes at least one of color, letter and digital coding.
9. A general warehouse cargo accessibility evaluation system for crane-lifting, comprising a processor, characterized in that: The processor is used to execute a computer program to implement the steps of the method for evaluating the accessibility of cargo in a general warehouse using a crane as claimed in any one of claims 1 to 8.