Intelligent logistics palletizing crane control method and system based on warehouse scanning model

Abstract

The present application relates to the field of warehouse logistics palletizing technology, and specifically to an intelligent logistics palletizing crane control method and system based on a warehouse scanning model. When applied, in the acceleration stage, the first tug can increase the speed-up efficiency of the mobile cart. In the stable transportation stage, the first tug and the second tug first move in a follow-up manner, and when the swing amplitude is too large, a dragging force is applied to gradually eliminate the swing. In the box-approaching stage, the second tug assists the mobile cart in decelerating, and the mobile cart slows down to the preset box-approaching speed and then smoothly approaches the box. The entire method is designed for each stage to achieve intelligent optimization of the warehouse cargo logistics transportation process. There is no need to comprehensively transform the mobile cart integrated with the lifting mechanism. The various functions of the present application can be realized by adding the first tug and the second tug to the aerial slide rail, so that the system has excellent adaptability, the modification work is flexible and simple, and it can be adapted to a variety of warehouse palletizing cranes.

Description

Technical Field

[0001] The present application relates to the field of warehouse logistics palletizing technology, and specifically to an intelligent logistics palletizing crane control method and system based on a warehouse scanning model. Background Art

[0002] In the modern logistics and warehousing industries, efficient storage and handling of goods is essential. Traditional warehouse palletizing operations usually rely on palletizing cranes, which are a type of lifting and handling equipment widely used in warehouses. The design of a palletizing crane usually includes a mobile trolley that can move on a preset track, and the mobile trolley is equipped with a hook for lifting goods. The main function of this equipment is to move goods from one place to another, or to stack goods on warehouse shelves.

[0003] However, despite the important role that palletizing cranes play in warehousing operations, they have some significant limitations in practical applications. First, the mobile mechanical structure of palletizing cranes is usually of low precision, which limits their accuracy and stability during handling. Due to this lack of precision, palletizing cranes are prone to causing goods to sway during movement, which not only increases the risk of damage to the goods, but also reduces operational efficiency. Secondly, the low mobility of palletizing cranes limits their ability to operate in complex or narrow spaces, and can easily cause excessive collisions of goods during the process of loading and unloading, causing impact and wear to the goods. This is especially important for fragile or high-value goods, but this operation is often difficult to achieve under existing technical conditions.

[0004] In summary, although the stacking crane plays a certain role in warehouse stacking operations, its limitations in accuracy, flexibility, efficiency and soft operation limit its application potential in modern efficient warehouse environments. Therefore, how to overcome the low efficiency, low mechanical accuracy and difficulty in soft palletizing of existing stacking cranes is a technical problem that needs to be solved in this field. Summary of the invention

[0005] In view of this, the present application provides an intelligent logistics palletizing crane control method and system based on a warehouse scanning model, which can overcome the technical problems of low efficiency, low mechanical precision and difficulty in soft-packing of existing palletizing cranes.

[0006] In the first aspect, the present application provides an intelligent logistics palletizing crane control method based on a warehouse scanning model, which is applied to a palletizing crane in a warehouse, wherein an aerial slide is provided in the warehouse, and the palletizing crane comprises a moving trolley, a hook, a first tractor and a second tractor, wherein the moving trolley is slidably connected to the aerial slide, the hook is lifted and lowered connected to the moving trolley, the first tractor is slidably connected to the aerial slide on the side of the moving trolley facing the first direction, and the second tractor is slidably connected to the aerial slide on the side of the moving trolley facing the second direction. The first tractor and the second tractor are both connected to the mobile cart by cables; wherein the intelligent logistics stacking crane control method based on the warehouse scanning model includes: obtaining yard storage data and control data, obtaining yard cargo location data according to the yard storage data, and monitoring the swing amplitude and real-time position of the goods on the hook; if the control data controls the mobile cart to move in a first direction, the target position of the goods in the first direction is obtained according to the control data and the yard cargo location data; if the speed of the mobile cart is less than the set transportation speed , control the first tractor to drag the moving cart in the first direction with a constant first preset pulling force; if the speed of the moving cart is greater than or equal to the set transport speed, control the first tractor and the second tractor to move with the moving cart; when the speed of the moving cart is greater than or equal to the set transport speed, and the swing amplitude of the goods is greater than or equal to the preset amplitude, when the goods swing toward the first direction, control the first tractor to apply a single drag to the moving cart, and when the goods swing toward the second direction, control the second tractor to apply a single drag to the moving cart until the swing amplitude is less than the preset amplitude; wherein the force application time of the single drag is less than the preset force application time; and if the distance between the goods and the target position is less than or equal to the preset safety distance, stop the power of the moving cart, and control the second tractor to drag the moving cart in the second direction with a constant second preset pulling force until the speed of the moving cart is reduced to a preset box-keeping speed, and control the moving cart to smoothly transport the goods to the target position at the preset box-keeping speed.

[0007] In combination with the first aspect, in a possible implementation method, the acquiring of yard storage data and manipulation data, and obtaining yard cargo location data based on the yard storage data includes: acquiring a storage scanning model in the warehouse based on image acquisition; and obtaining the yard storage data based on the storage scanning model.

[0008] In combination with the first aspect, in a possible implementation method, the monitoring of the swing amplitude and real-time position of the cargo on the hook includes: acquiring a dynamic image of the cargo within a preset time period based on image acquisition; setting the vertical state of the cable between the cargo and the mobile cart as the reference state of the cargo; and identifying the farthest position of the cargo relative to the reference state based on the dynamic image to obtain the swing amplitude.

[0009] In combination with the first aspect, in a possible implementation, if the speed of the moving cart is greater than or equal to the set transport speed, controlling the first tug and the second tug to follow the moving cart includes: controlling the first tug to approach the moving cart until the relative distance between the first tug and the moving cart is less than half the length of the cable therebetween; controlling the first tug and the moving cart to follow at the current distance; controlling the second tug to approach the moving cart until the relative distance between the second tug and the moving cart is less than half the length of the cable therebetween; and controlling the second tug and the moving cart to follow at the current distance.

[0010] In combination with the first aspect, in a possible implementation, when the cargo swings toward the first direction, the first tug is controlled to apply a single drag to the moving cart, and when the cargo swings toward the second direction, the second tug is controlled to apply a single drag to the moving cart until the swing amplitude is less than the preset amplitude, including: when the cargo swings toward the first direction with an amplitude greater than or equal to the preset amplitude and moves to the farthest position relative to the reference state, the first tug is controlled to apply a single drag to the moving cart; and when the cargo swings toward the second direction with an amplitude greater than or equal to the preset amplitude and moves to the farthest position relative to the reference state, the second tug is controlled to apply a single drag to the moving cart; wherein the pulling force of the single drag is positively correlated with the current rope length of the hook and the swing amplitude.

[0011] In combination with the first aspect, in a possible implementation, when the cargo swings toward the first direction, the first tug is controlled to apply a single drag to the moving cart, and when the cargo swings toward the second direction, the second tug is controlled to apply a single drag to the moving cart until the swing amplitude is less than the preset amplitude, including: when the cargo moves toward the first direction with a swing amplitude greater than or equal to the preset amplitude to the farthest position relative to the reference state, the first tug is controlled to apply a single drag to the moving cart; and when the cargo moves toward the second direction with a swing amplitude greater than or equal to the preset amplitude to the farthest position relative to the reference state, the second tug is controlled to apply a single drag to the moving cart; wherein the pulling force of the single drag increases first and then decreases, and the maximum pulling force of the single drag is positively correlated with the current rope length of the hook and the swing amplitude.

[0012] In combination with the first aspect, in a possible implementation, if the distance between the cargo and the target position is less than or equal to a preset safety distance, the power of the moving cart is stopped, and the second tractor is controlled to drag the moving cart in the second direction with a constant second preset pulling force until the speed of the moving cart is reduced to a preset box-reaching speed, and controlling the moving cart to smoothly transport the cargo to the target position at the preset box-reaching speed includes: when the speed of the moving cart is reduced to the preset box-reaching speed, controlling the first tractor and the second tractor to move in a direction away from the moving cart; controlling the first tractor and the second tractor to reach the extreme position at the same time; and controlling the first tractor and the second tractor to jointly drag the moving cart to both sides with a third preset pulling force.

[0013] In combination with the first aspect, in a possible implementation, if the distance between the cargo and the target position is less than or equal to a preset safety distance, the power of the moving cart is stopped, and the second tractor is controlled to drag the moving cart in the second direction with a constant second preset pulling force until the speed of the moving cart is reduced to a preset box-reaching speed, and controlling the moving cart to smoothly transport the cargo to the target position at the preset box-reaching speed includes: when the speed of the moving cart is reduced to the preset box-reaching speed, controlling the first tractor and the second tractor to move toward the moving cart; controlling the first tractor and the second tractor to simultaneously connect with the moving cart; and controlling the first tractor and the second tractor to jointly abut the moving cart from both sides with a first preset abutting force.

[0014] In combination with the first aspect, in a possible implementation method, it also includes: if the control data controls the moving cart to return to the second direction and the hook is in an empty state, retracting the hook; controlling the moving cart to move at a control speed corresponding to the control data; controlling the second tug to drag the moving cart in the second direction with a fourth preset pulling force; and controlling the first tug to abut the moving cart in the second direction with a second preset abutment force.

[0015] In the second aspect, the present application provides an intelligent logistics palletizing crane control system based on a warehouse scanning model, which is applied to a palletizing crane in a warehouse, wherein an aerial slide is provided in the warehouse, and the palletizing crane comprises a moving trolley, a hook, a first tug and a second tug, wherein the moving trolley is slidably connected to the aerial slide, the hook is lifted and lowered connected to the moving trolley, the first tug is slidably connected to the aerial slide on the side of the moving trolley facing the first direction, the second tug is slidably connected to the aerial slide on the side of the moving trolley facing the second direction, and the first tug and the second tug are both connected to the moving trolley by a cable; wherein the intelligent logistics palletizing crane based on the warehouse scanning model The control system includes: a data acquisition module, configured to: obtain yard storage data and control data, obtain yard cargo location data according to the yard storage data, and monitor the swing amplitude and real-time position of the cargo on the hook; a calculation module, which is communicated with the data acquisition module, and the calculation module is configured to: if the control data controls the mobile vehicle to move in a first direction, obtain the target position of the cargo in the first direction according to the control data and the yard cargo location data; an acceleration control module, which is communicated with the data acquisition module and the calculation module respectively, and the acceleration control module is configured to: if the speed of the mobile vehicle is less than the set transportation speed, control the first tractor to move toward the first tractor with a constant first preset pulling force a movement control module, which is respectively connected to the data acquisition module and the calculation module in communication, and the movement control module is configured to: if the speed of the moving cart is greater than or equal to the set transport speed, control the first tractor and the second tractor to follow the moving cart; a swing control module, which is respectively connected to the data acquisition module and the calculation module in communication, and the swing control module is configured to: when the speed of the moving cart is greater than or equal to the set transport speed, and the swing amplitude of the goods is greater than or equal to a preset amplitude, when the goods swing toward the first direction, control the first tractor to apply a single drag to the moving cart, and when the goods swing toward the second direction When swinging, the second tug is controlled to apply a single drag to the mobile cart until the swing amplitude is less than the preset amplitude; wherein the force application time of the single drag is less than the preset force application time; and a soft box control module is communicated with the data acquisition module and the calculation module respectively, and the soft box control module is configured as follows: if the distance between the goods and the target position is less than or equal to the preset safety distance, the power of the mobile cart is stopped, and the second tug is controlled to drag the mobile cart in the second direction with a constant second preset pulling force until the speed of the mobile cart is reduced to the preset box speed, and the mobile cart is controlled to smoothly transport the goods to the target position at the preset box speed.

[0016] When the present application is applied, it can scan and obtain specific yard data in the warehouse, so as to calculate the target position of the cargo transportation. In the acceleration stage of the mobile cart, the speed-up efficiency of the mobile cart can be increased by dragging the first tug. When the mobile cart enters the stable transportation stage, the first tug and the second tug first move in a follow-up manner. When the swing amplitude is too large, the first tug or the second tug applies a dragging force to gradually eliminate the swing. In the box-approaching stage, the second tug applies a dragging force to assist the mobile cart in decelerating. After the mobile cart is reduced to the preset box-approaching speed, it is slowly and steadily approached at the preset box-approaching speed. The whole method is designed for each stage separately to realize the intelligent optimization of the warehouse cargo logistics transportation process. The present application does not require a comprehensive transformation of the mobile cart integrated with the lifting mechanism. The various functions of the present application can be realized by adding the first tug and the second tug on the aerial slide rail, so that the system has excellent adaptability, the modification work is flexible and simple, and it can be adapted to a variety of warehouse stacking cranes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure shows a schematic diagram of the method steps of a smart logistics stacking crane control method based on a warehouse scanning model provided by an embodiment of the present application;

[0018] Figure 2 The figure shows the overall structure schematic diagram of a warehouse stacking crane provided by an embodiment of the present application;

[0019] Figure 3 The figure is a schematic diagram of the steps of a method for obtaining storage yard data provided by another embodiment of the present application;

[0020] Figure 4 It is a schematic diagram of the steps of a method for monitoring the swing amplitude of cargo on a hook provided by another embodiment of the present application;

[0021] Figure 5 The figure is a schematic diagram of the steps of a method for controlling the first tractor and the second tractor to follow the moving vehicle provided by another embodiment of the present application;

[0022] Figure 6 The figure is a schematic diagram of the method steps of a method for eliminating swing with a constant drag force provided by an embodiment of the present application;

[0023] Figure 7 It is a schematic diagram of the method steps of changing the drag force to eliminate the swing provided by another embodiment of the present application;

[0024] Figure 8 The figure shows a schematic diagram of the method steps of a method for dragging a stable moving trolley during a soft leaning process provided by an embodiment of the present application;

[0025] Fig. 9It is a schematic diagram of the method steps of a method for abutting and stabilizing a movable vehicle in a soft leaning process provided by another embodiment of the present application;

[0026] Fig.10 The figure is a schematic diagram of the method steps of the mobile trolley return process provided by another embodiment of the present application;

[0027] Fig.11 The figure shows a system structure diagram of an intelligent logistics palletizing crane control system based on a warehouse scanning model provided by an embodiment of the present application.

[0028] The numbers in the figure are: 1. aerial slide rail; 2. mobile trolley; 3. hook; 4. first tug; 5. second tug; 1101. data acquisition module; 1102. calculation module; 1103. acceleration control module; 1104. operation control module; 1105. swing control module; 1106. soft support box control module. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] An exemplary intelligent logistics pallet crane control method based on a warehouse scanning model is as follows: Figure 1 The figure shows a schematic diagram of the method steps of an intelligent logistics stacking crane control method based on a warehouse scanning model provided in one embodiment of the present application. Figure 2 The figure shows the overall structure of a warehouse palletizing crane provided by an embodiment of the present application. The present application provides an intelligent logistics palletizing crane control method based on a warehouse scanning model, which is applied to a palletizing crane in a warehouse, such as Figure 2 As shown, an aerial slide 1 is provided in the warehouse, and the stacking crane includes a moving trolley 2, a hook 3, a first tug 4 and a second tug 5. The moving trolley 2 is slidably connected to the aerial slide 1, the hook 3 is lifted and connected to the moving trolley 2, the first tug 4 is slidably connected to the aerial slide 1 on the side of the moving trolley 2 facing the first direction, and the second tug 5 is slidably connected to the aerial slide 1 on the side of the moving trolley 2 facing the second direction. The first tug 4 and the second tug 5 are both connected to the moving trolley 2 by cables. The first tug 4 and the second tug 5 can use rail cars with better performance, and both have their own independent power. Figure 1As shown, the intelligent logistics stacking crane control method based on the warehouse scanning model includes: step 110, obtaining yard storage data and control data, obtaining yard cargo location data according to the yard storage data, and monitoring the swing amplitude and real-time position of the goods on the hook 3.

[0031] In this step, the image acquisition method of the camera can be used to acquire images of the yard in the warehouse to obtain the yard storage data, so as to know the specific information of the yard in the warehouse, that is, the specific situation of the goods at each cargo position in the yard. Then, the goods are monitored by image acquisition or other types of sensors to know the real-time status of the goods on the hook 3, including the swing amplitude and real-time position of the goods during the transportation of the goods by the stacking crane. The control data includes the control parameters of the mobile trolley 2 and the hook 3 by the operator or artificial intelligence, including controlling the movement of the mobile trolley 2 on the aerial slide 1, and controlling the lifting and lowering of the hook 3 relative to the mobile trolley 2. When controlling the mobile trolley 2 and the hook 3 to transport goods, the operator issues an operation instruction through a handle or other type of operator, that is, generates the above-mentioned control data; or in an automated warehouse, the artificial intelligence generates control data according to a preset program to transport goods.

[0032] Step 120: If the control data controls the mobile vehicle 2 to move in the first direction, the target position of the goods in the first direction is obtained according to the control data and the yard cargo location data.

[0033] In this step, when the stacking crane transports goods, the present application proposes that the direction of goods transportation is the first direction. Figure 2 In the corresponding embodiment, the rightward direction is set as the aforementioned first direction, and the leftward direction is set as the aforementioned second direction. Figure 2 In the embodiment, the goods are transported from the left side to the right side of the yard. It can be understood that in some other embodiments, the goods can also be transported from the right side to the left side of the yard. That is, the first direction referred to in this application is the transportation direction of the goods, and is not limited to Figure 2 In the embodiment, the goods are transported from the left side to the right side. When the goods need to be transported, the control data includes the destination of the goods. The yard cargo location data can be used to know whether the destination is free. If it is free, a feasible target location in this transportation work is generated.

[0034] Step 130: If the speed of the moving cart 2 is less than the set transport speed, control the first dragger 4 to drag the moving cart 2 in the first direction with a constant first preset pulling force.

[0035] In this step, the speed of the mobile cart 2 is slow during the initial startup phase and has not yet reached the set transportation speed. It can be determined that the cargo is far from the target location. Controlling the moving speed of the first tractor 4 to be greater than the mobile cart 2, that is, controlling the first tractor 4 to drag the mobile cart 2, can quickly increase the speed of the mobile cart 2, thereby improving the cargo transportation efficiency. And by accelerating the first tractor 4, the structural loss of the mobile cart 2 caused by acceleration can be reduced. The transportation speed is set to a stable transportation speed that the electrical structure of the mobile cart 2 itself can achieve. The first preset pulling force is related to the load of the mobile cart 2. The greater the load, the greater the first preset pulling force, which can make the dragging force and the load of the mobile cart 2 adapt to each other to avoid dragging too fast or insufficient dragging force.

[0036] Step 140 : If the speed of the moving cart 2 is greater than or equal to the set transport speed, the first tractor 4 and the second tractor 5 are controlled to follow the moving cart 2 .

[0037] In this step, when the moving trolley 2 reaches the set transport speed, it can be determined that the moving trolley 2 enters the transport stage, and at this time, the moving trolley 2 mainly provides the transport power for the goods along the aerial slide rail 1. The first tractor 4 and the second tractor 5 do not intervene in the transport, and the speed of the first tractor 4 and the second tractor 5 is maintained at the set transport speed for follow-up.

[0038] Step 150: When the speed of the moving cart 2 is greater than or equal to the set transport speed and the swing amplitude of the goods is greater than or equal to the preset amplitude, when the goods swing toward the first direction, the first tug 4 is controlled to apply a single drag to the moving cart 2; when the goods swing toward the second direction, the second tug 5 is controlled to apply a single drag to the moving cart 2 until the swing amplitude is less than the preset amplitude.

[0039] In this step, the force application time of a single drag is less than the pre-force duration. The swing direction of the goods is monitored in real time by image monitoring. When the goods swing in the first direction, the first dragger 4 performs a single drag to eliminate some swings; when the goods swing in the second direction, the second dragger 5 performs a single drag and then eliminates some swings, thereby eliminating the swing when the goods swing. The force application time of a single drag is less than the pre-force duration, which can avoid additional swings caused by dragging too long. The pre-force duration can be set to a duration of less than 1s. Since the elimination of swing is achieved by the dragging of the first dragger 4 and the second dragger 5, there is no requirement for the mobile performance of the mobile trolley 2, and there is no need to update or replace the power system of the mobile trolley 2. The previous power system can be used, and only the first dragger 4 and the second dragger 5 can be controlled to drag. The strength of a single drag is determined by the relative speed of the first dragger 4 and the second dragger 5 relative to the mobile trolley 2. The greater the relative speed, the greater the single drag strength.

[0040] Step 160: If the distance between the cargo and the target location is less than or equal to the preset safety distance, stop the power of the mobile cart 2, and control the second tractor 5 to drag the mobile cart 2 in the second direction with a constant second preset pulling force until the speed of the mobile cart 2 is reduced to the preset box-reaching speed, and control the mobile cart 2 to smoothly transport the cargo to the target location at the preset box-reaching speed.

[0041] In this step, when the goods reach the preset safety distance, it can be determined that the goods are close to the target position, and the system enters the docking stage. At this time, the second tug 5 drags the mobile cart 2 in the second direction, thereby slowing down the mobile cart 2. The second preset pulling force is a constant value, which can gradually reduce the speed of the mobile cart 2 without causing a sudden change in speed to cause the goods to swing too much. By controlling the speed of the second tug 5, the second preset pulling force can be controlled. The relative speed of the second tug 5 and the mobile cart 2 is a constant value, which can make the second preset pulling force constant. After the mobile cart 2 is reduced to the preset docking speed, the mobile cart 2 docks at a lower preset docking speed to avoid excessive collision between the transported goods and the goods in the yard.

[0042] When this embodiment is applied, the camera can scan and obtain specific yard data in the warehouse, so as to calculate the target position of the cargo transportation. In the acceleration stage of the mobile cart 2, the speed-up efficiency of the mobile cart 2 can be increased by dragging the first dragger 4. When the mobile cart 2 enters the stable transportation stage, the first dragger 4 and the second dragger 5 first move in a follow-up manner. When the swing amplitude is too large, the first dragger 4 or the second dragger 5 applies a dragging force to gradually eliminate the swing. In the box-keeping stage, the second dragger 5 applies a dragging force to assist the mobile cart 2 in deceleration. After the mobile cart 2 is reduced to the preset box-keeping speed, it is slowly and steadily parked at the preset box-keeping speed. The whole method is designed for each stage to realize the intelligent optimization of the warehouse cargo logistics transportation process. In this embodiment, there is no need to fully transform the mobile cart 2 integrated with the lifting mechanism. It only needs to install the first dragger 4 and the second dragger 5 on the aerial slide rail 1 to realize the various functions of this application, so that the system has excellent adaptability, the modification work is flexible and simple, and it can be adapted to a variety of warehouse stacking cranes.

[0043] Figure 3 FIG. 1 is a schematic diagram of a method for obtaining storage yard data provided by another embodiment of the present application. Figure 3 As shown, in step 110, "obtaining yard storage data" specifically includes:

[0044] Step 1111: acquiring a storage scanning model in the warehouse based on image acquisition;

[0045] Step 1112: Obtain yard storage data according to the storage scanning model.

[0046] In this embodiment, a data model in the warehouse is established by image acquisition, that is, a warehouse scanning model is obtained, from which the yard storage data can be obtained, and the stacking position, stacking situation and free position of each cargo in the warehouse can be known. When the cargo transportation target corresponding to the control data is a free position, the target position can be generated so that the cargo can be transported to the destination according to the target position.

[0047] Figure 4 FIG. 2 is a schematic diagram of a method for monitoring the swing amplitude of a cargo on a hook provided by another embodiment of the present application. Figure 4 As shown, in step 110, "monitoring the swing amplitude of the cargo on the hook 3" specifically includes:

[0048] Step 1121, acquiring dynamic images of the goods within a preset time period based on image acquisition;

[0049] Step 1122, setting the vertical state of the cable between the cargo and the mobile trolley 2 as the reference state of the cargo;

[0050] Step 1123: Identify the farthest position of the cargo relative to the reference state according to the dynamic image, and obtain the swing amplitude.

[0051] This embodiment takes the vertical state of the cable as the standard, and uses a visual solution to analyze the farthest position of the cargo from the reference state when it is swinging, and uses the farthest position as the maximum swing amplitude of the cargo, that is, the swing amplitude is obtained.

[0052] Figure 5 FIG. 2 is a schematic diagram of a method for controlling the first tractor and the second tractor to follow the moving vehicle according to another embodiment of the present application. Figure 5 As shown, in step 140, "controlling the first tractor 4 and the second tractor 5 to follow the moving vehicle 2" specifically includes:

[0053] Step 141, control the first tug 4 to approach the moving trolley 2 until the relative distance between the first tug 4 and the moving trolley 2 is less than half the length of the cable therebetween; control the second tug 5 to approach the moving trolley 2 until the relative distance between the second tug 5 and the moving trolley 2 is less than half the length of the cable therebetween;

[0054] Step 142: Control the first tractor 4 and the mobile cart 2 to follow at the current distance; control the second tractor 5 and the mobile cart 2 to follow at the current distance.

[0055] In this embodiment, the first tug 4 is controlled to follow at a position where the relative distance is less than half the length of the cables of the two. On the one hand, it can ensure that the first tug 4 will not affect the stable transportation stage of the mobile trolley 2 during the following. On the other hand, the relative distance between the first tug 4 and the mobile trolley 2 can be sufficient to prepare for the single drag in step 150. If the relative distance is too short, the first tug 4 may not be able to effectively perform a single drag on the mobile trolley 2. Similarly, the second tug 5 is controlled to follow at a position where the relative distance is less than half the length of the cables of the two. On the one hand, it can ensure that the second tug 5 will not affect the stable transportation stage of the mobile trolley 2 during the following. On the other hand, the relative distance between the second tug 5 and the mobile trolley 2 can be sufficient to prepare for the single drag in step 150. If the relative distance is too short, the second tug 5 may not be able to effectively perform a single drag on the mobile trolley 2.

[0056] Figure 6 FIG. 1 is a schematic diagram of the method steps of a method for eliminating swing with constant drag force provided by an embodiment of the present application. Figure 6 As shown, in step 150, "controlling the first tug 4 to apply a single drag to the moving trolley 2 when the cargo swings toward the first direction, and controlling the second tug 5 to apply a single drag to the moving trolley 2 when the cargo swings toward the second direction" specifically includes: step 1511, when the cargo swings toward the first direction with an amplitude greater than or equal to a preset amplitude and moves to the farthest position relative to the reference state, controlling the first tug 4 to apply a single drag to the moving trolley 2. The pulling force of the single drag is positively correlated with the current rope length and the swing amplitude of the hook 3.

[0057] Or, step 1512, when the swing amplitude of the cargo toward the second direction is greater than or equal to the preset amplitude and moves to the farthest position relative to the reference state, the second dragger 5 is controlled to apply a single drag to the moving cart 2. The pulling force of the single drag is positively correlated with the current rope length and the swing amplitude of the hook 3.

[0058] In this embodiment, the pulling force of a single drag is positively correlated with the current rope length and swing amplitude of the hook 3. The larger the current rope length, the greater the pulling force, and the larger the swing amplitude, the greater the pulling force. The smaller the current rope length, the smaller the pulling force, and the smaller the swing amplitude, the smaller the pulling force. Thus, the pulling force of a single drag can be adapted to the current swing state, avoiding excessive single drag force causing additional swinging of the goods, and avoiding excessive single drag force causing the swing to be unable to be effectively eliminated. A single drag is only applied when the goods are moving away from the reference state, thereby further ensuring that a single drag can only eliminate the swing without causing additional swing.

[0059] Figure 7The figure shows a schematic diagram of the steps of a method for eliminating swing by changing drag force provided by another embodiment of the present application. Figure 7 As shown, in step 150, "when the goods swing toward the first direction, control the first tug 4 to apply a single drag to the moving cart 2, and when the goods swing toward the second direction, control the second tug 5 to apply a single drag to the moving cart 2" includes: Step 1521, when the swing amplitude of the goods toward the first direction is greater than or equal to the preset amplitude and moves to the farthest position relative to the reference state, control the first tug 4 to apply a single drag to the moving cart 2. The pulling force of the single drag increases first and then decreases.

[0060] Or, step 1522, when the swing amplitude of the cargo toward the second direction is greater than or equal to the preset amplitude and moves to the farthest position relative to the reference state, the second dragger 5 is controlled to apply a single drag to the moving vehicle 2. The pulling force of the single drag increases first and then decreases.

[0061] In this embodiment, the pulling force of a single drag increases first and then decreases, and the maximum pulling force of a single drag is positively correlated with the current rope length and swing amplitude of the hook 3, which can further optimize the swing elimination effect of a single drag and further avoid the single drag causing additional swing. The larger the current rope length, the greater the maximum pulling force, and the larger the swing amplitude, the greater the maximum pulling force; the smaller the current rope length, the smaller the maximum pulling force, and the smaller the swing amplitude, the smaller the maximum pulling force, so that the single drag pulling force can be adapted to the current swing state, avoiding the single drag force being too large and causing additional swinging of the goods, and also avoiding the single drag force being too small and unable to effectively eliminate the swing. At the same time, a single drag is only applied when the goods are moving away from the reference state, so as to further ensure that the single drag can only eliminate the swing without causing additional swing.

[0062] Figure 8 The figure shows a schematic diagram of the steps of a method for dragging a stable moving vehicle in a soft box-backing process provided by another embodiment of the present application. Figure 8 As shown, in step 160, "reducing the speed of the moving trolley 2 to a preset box-reaching speed, and controlling the moving trolley 2 to be stable" specifically includes:

[0063] Step 1611: When the speed of the moving trolley 2 is reduced to a preset box approaching speed, the first tractor 4 and the second tractor 5 are controlled to move in a direction away from the moving trolley 2;

[0064] Step 1612, controlling the first dragger 4 and the second dragger 5 to reach the limit position at the same time;

[0065] Step 1613: Control the first dragger 4 and the second dragger 5 to jointly drag the moving vehicle 2 toward both sides with a third preset pulling force.

[0066] In this embodiment, in the soft leaning stage, the limit position is the farthest distance between the first tug 4 and the second tug 5 and the moving trolley 2 when the cable is stretched straight. The first tug 4 and the second tug 5 drag the moving trolley 2 in the first direction and the second direction respectively, which can achieve a stabilizing effect on the moving trolley 2. The moving trolley 2 is pulled in opposite directions, which can make the moving trolley 2 more stable in the soft leaning stage, thereby further optimizing the soft leaning effect. The second preset pulling force can be set to half of the sum of the weight of the moving trolley 2 and the load force. This value can play a stabilizing role without affecting the movement of the moving trolley 2.

[0067] Fig. 9 The figure shows a schematic diagram of the steps of a method for abutting a stable moving vehicle in a soft leaning process provided by another embodiment of the present application. Fig. 9 As shown, in step 160, "reducing the speed of the moving trolley 2 to a preset box-reaching speed, and controlling the moving trolley 2 to be stable" specifically includes:

[0068] Step 1621: When the speed of the moving trolley 2 is reduced to a preset box approaching speed, the first tractor 4 and the second tractor 5 are controlled to move toward the moving trolley 2;

[0069] Step 1622, control the first tractor 4 and the second tractor 5 to be connected to the moving vehicle 2 at the same time;

[0070] Step 1623 , control the first tractor 4 and the second tractor 5 to abut the moving vehicle 2 from both sides with a first preset abutting force.

[0071] In this embodiment, the first dragger 4 and the second dragger 5 respectively abut the moving trolley 2 from both sides, which can achieve a stabilizing effect on the moving trolley 2. The moving trolley 2 is subjected to the abutting force on both sides, which can make the moving trolley 2 more stable in the soft-resting stage, thereby further optimizing the soft-resting effect. The first preset abutting force can be set to half of the sum of the weight of the moving trolley 2 and the load force. This value can play a stabilizing role without affecting the movement of the moving trolley 2.

[0072] Fig.10 FIG. 2 is a schematic diagram of the method steps of the mobile trolley return process provided by another embodiment of the present application. Fig.10 As shown, the intelligent logistics palletizing crane control method based on the warehouse scanning model also includes:

[0073] Step 170: If the control data controls the moving vehicle 2 to move back in the second direction and the hook 3 is in an empty state, the hook 3 is recovered;

[0074] Step 180, controlling the mobile car 2 to move at a control speed corresponding to the control data;

[0075] Step 190, controlling the second dragger 5 to drag the moving vehicle 2 in the second direction with a fourth preset pulling force;

[0076] Step 200: Control the first dragger 4 to abut against the moving vehicle 2 in a second direction with a second preset abutting force.

[0077] In this embodiment, the hook 3 is recovered and returned to its original position without considering the swing of the hook 3, and the use of the first tractor 4 and the second tractor 5 can accelerate the return process, thereby improving the execution efficiency of the entire warehouse logistics transportation.

[0078] An example of an intelligent logistics pallet crane control system based on a warehouse scanning model is as follows: Fig.11 The figure shows a schematic diagram of the system structure of an intelligent logistics stacking crane control system based on a warehouse scanning model provided by an embodiment of the present application. The present application also provides an intelligent logistics stacking crane control system based on a warehouse scanning model, which is applied to stacking cranes in warehouses, such as Figure 2 As shown, the warehouse is provided with an aerial slide 1, and the stacking crane includes a moving trolley 2, a hook 3, a first tug 4, and a second tug 5. The moving trolley 2 is slidably connected to the aerial slide 1, the hook 3 is lifted and connected to the moving trolley 2, the first tug 4 is slidably connected to the aerial slide 1 on the side of the moving trolley 2 facing the first direction, the second tug 5 is slidably connected to the aerial slide 1 on the side of the moving trolley 2 facing the second direction, and the first tug 4 and the second tug 5 are both connected to the moving trolley 2 by cables. Fig.11 As shown, the intelligent logistics stacking crane control system based on the warehouse scanning model includes: a data acquisition module 1101, a calculation module 1102, an acceleration control module 1103, an operation control module 1104, a swing control module 1105 and a soft box control module 1106.

[0079] The data acquisition module 1101 is configured to: obtain yard storage data and control data, obtain yard cargo location data according to the yard storage data, and monitor the swing amplitude and real-time position of the cargo on the hook 3.

[0080] The calculation module 1102 is in communication connection with the data acquisition module 1101, and the calculation module 1102 is configured to: if the control data controls the moving vehicle 2 to move in a first direction, obtain the target position of the goods in the first direction according to the control data and the yard cargo location data.

[0081] The acceleration control module 1103 is respectively connected to the data acquisition module 1101 and the calculation module 1102 for communication. The acceleration control module 1103 is configured to: if the distance between the cargo and the target position is greater than the first preset safety distance, control the first tractor 4 to drag the mobile cart 2 in the first direction with a constant first preset pulling force.

[0082] The operation control module 1104 is communicatively connected with the data acquisition module 1101 and the calculation module 1102 respectively, and the operation control module 1104 is configured as follows: if the distance between the cargo and the target position is less than or equal to the first preset safety distance and greater than the second preset safety distance, the mobile cart 2 is controlled to move at a control speed corresponding to the control data, and the first tractor 4 and the second tractor 5 are controlled to move with the mobile cart 2; wherein the first preset safety distance is greater than the second preset safety distance.

[0083] The swing control module 1105 is communicatively connected with the data acquisition module 1101 and the calculation module 1102 respectively, and the swing control module 1105 is configured as follows: during the movement process in which the distance between the cargo and the target position is less than or equal to the first preset safety distance and greater than the second preset safety distance, if the swing amplitude of the cargo is greater than or equal to the preset amplitude, when the cargo swings toward the first direction, the first tug 4 is controlled to apply a single drag to the mobile cart 2, and when the cargo swings toward the second direction, the second tug 5 is controlled to apply a single drag to the mobile cart 2 until the swing amplitude is less than the preset amplitude; wherein, the force application time of the single drag is less than the preset force application time.

[0084] The soft box-leaning control module 1106 is communicatively connected to the data acquisition module 1101 and the calculation module 1102 respectively, and the soft box-leaning control module 1106 is configured as follows: if the distance between the goods and the target position is less than or equal to the second preset safety distance, the power of the mobile cart 2 is stopped, and the second tractor 5 is controlled to drag the mobile cart 2 in the second direction with a constant second preset pulling force until the speed of the mobile cart 2 is reduced to the preset box-leaning speed, and the mobile cart 2 is controlled to smoothly transport the goods to the target position at the preset box-leaning speed.

[0085] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0086] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0087] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0088] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features of the present invention.

[0089] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent logistics pallet crane control method based on a warehouse scanning model, characterized in that: A stacking crane used in a warehouse, wherein the warehouse is provided with an aerial slide rail (1), and the stacking crane comprises a moving trolley (2), a hook (3), a first tractor (4) and a second tractor (5); the moving trolley (2) is slidably connected to the aerial slide rail (1); the hook (3) is lifted and connected to the moving trolley (2); the first tractor (4) is slidably connected to the aerial slide rail (1) on a side of the moving trolley (2) facing a first direction; the second tractor (5) is slidably connected to the aerial slide rail (1) on a side of the moving trolley (2) facing a second direction; and the first tractor (4) and the second tractor (5) are both connected to the moving trolley (2) via cables; Among them, the intelligent logistics palletizing crane control method based on the warehouse scanning model includes: Acquire yard storage data and control data, obtain yard cargo location data based on the yard storage data, and monitor the swing amplitude and real-time position of the cargo on the hook (3); If the control data controls the moving vehicle (2) to move in a first direction, a target position of the goods in the first direction is obtained according to the control data and the yard cargo location data; If the speed of the moving cart (2) is less than the set transport speed, controlling the first dragger (4) to drag the moving cart (2) in the first direction with a constant first preset pulling force; If the speed of the moving trolley (2) is greater than or equal to the set transport speed, the first tractor (4) and the second tractor (5) are controlled to follow the moving trolley (2); When the speed of the moving cart (2) is greater than or equal to the set transport speed, and the swing amplitude of the cargo is greater than or equal to a preset amplitude, when the cargo swings toward the first direction, the first tractor (4) is controlled to apply a single drag to the moving cart (2), and when the cargo swings toward the second direction, the second tractor (5) is controlled to apply a single drag to the moving cart (2) until the swing amplitude is less than the preset amplitude; wherein the force application time of the single drag is less than the preset force application time; and If the distance between the goods and the target location is less than or equal to the preset safety distance, the power of the moving cart (2) is stopped, and the second tractor (5) is controlled to drag the moving cart (2) in the second direction with a constant second preset pulling force until the speed of the moving cart (2) is reduced to a preset box-reaching speed, and the moving cart (2) is controlled to smoothly transport the goods to the target location at the preset box-reaching speed.

2. The intelligent logistics stacking crane control method based on the warehouse scanning model according to claim 1 is characterized in that: The acquisition of storage yard data includes: Acquire a storage scanning model in the warehouse based on image acquisition; and The storage yard storage data is obtained according to the storage scanning model.

3. The intelligent logistics palletizing crane control method based on the warehouse scanning model according to claim 1 is characterized in that: The monitoring of the swing amplitude of the cargo on the hook (3) comprises: Acquire dynamic images of the goods within a preset time period based on image acquisition; Setting the vertical state of the cable between the cargo and the moving trolley (2) as the reference state of the cargo; and Identify the farthest position of the cargo relative to the reference state according to the dynamic image, and obtain the swing amplitude; Taking the vertical state of the cable as the standard, the farthest position of the cargo from the reference state when swinging is analyzed through a visual solution, and the farthest position is taken as the maximum swing amplitude of the cargo, that is, the swing amplitude is obtained.

4. The intelligent logistics stacking crane control method based on the warehouse scanning model according to claim 1 is characterized in that: The step of controlling the first dragger (4) and the second dragger (5) to follow the moving vehicle (2) comprises: Controlling the first tractor (4) to approach the moving trolley (2) until the relative distance between the first tractor (4) and the moving trolley (2) is less than half the length of the cable between the two; controlling the second tractor (5) to approach the moving trolley (2) until the relative distance between the second tractor (5) and the moving trolley (2) is less than half the length of the cable between the two; The first tractor (4) and the moving cart (2) are controlled to follow each other at the current distance; and the second tractor (5) and the moving cart (2) are controlled to follow each other at the current distance.

5. The intelligent logistics stacking crane control method based on the warehouse scanning model according to claim 3 is characterized in that: When the cargo swings toward the first direction, controlling the first tractor (4) to apply a single drag to the moving cart (2), and when the cargo swings toward the second direction, controlling the second tractor (5) to apply a single drag to the moving cart (2) comprises: When the goods move toward the first direction with a swing amplitude greater than or equal to a preset amplitude to the farthest position relative to the reference state, controlling the first dragger (4) to apply a single drag to the moving cart (2); and When the goods move in the second direction with a swing amplitude greater than or equal to a preset amplitude to the farthest position relative to the reference state, controlling the second dragger (5) to apply a single drag to the moving cart (2); The pulling force of a single drag is positively correlated with the current rope length of the hook (3) and the swing amplitude.

6. The intelligent logistics stacking crane control method based on the warehouse scanning model according to claim 3 is characterized in that: When the cargo swings toward the first direction, controlling the first tractor (4) to apply a single drag to the moving cart (2), and when the cargo swings toward the second direction, controlling the second tractor (5) to apply a single drag to the moving cart (2) comprises: When the goods move toward the first direction with a swing amplitude greater than or equal to a preset amplitude to the farthest position relative to the reference state, controlling the first dragger (4) to apply a single drag to the moving cart (2); and When the goods move in the second direction with a swing amplitude greater than or equal to a preset amplitude to the farthest position relative to the reference state, controlling the second dragger (5) to apply a single drag to the moving cart (2); The pulling force of a single drag increases first and then decreases, and the maximum pulling force of a single drag is positively correlated with the current rope length of the hook (3) and the swing amplitude.

7. The intelligent logistics stacking crane control method based on the warehouse scanning model according to claim 1 is characterized in that: The speed of the mobile trolley (2) is reduced to a preset container-reaching speed, and controlling the mobile trolley (2) to move smoothly includes: When the speed of the moving trolley (2) is reduced to a preset box approaching speed, the first tractor (4) and the second tractor (5) are controlled to move in a direction away from the moving trolley (2); Controlling the first dragger (4) and the second dragger (5) to reach the extreme positions at the same time; and The first dragger (4) and the second dragger (5) are controlled to jointly drag the moving vehicle (2) to both sides with a third preset pulling force.

8. The intelligent logistics stacking crane control method based on the warehouse scanning model according to claim 1 is characterized in that: The speed of the mobile trolley (2) is reduced to a preset container-reaching speed, and controlling the mobile trolley (2) to move smoothly includes: When the speed of the moving trolley (2) is reduced to a preset box-reaching speed, the first tractor (4) and the second tractor (5) are controlled to move toward the moving trolley (2); Controlling the first tractor (4) and the second tractor (5) to be in contact with the moving vehicle (2) at the same time; and The first tractor (4) and the second tractor (5) are controlled to abut against the moving trolley (2) from both sides with a first preset abutting force.

9. The intelligent logistics palletizing crane control method based on the warehouse scanning model according to claim 1 is characterized in that: Also includes: If the control data controls the moving trolley (2) to move back in the second direction, and the hook (3) is in an empty state, retracting the hook (3); Controlling the mobile vehicle (2) to move at a control speed corresponding to the control data; controlling the second dragger (5) to drag the moving vehicle (2) in the second direction with a fourth preset pulling force; and The first dragger (4) is controlled to abut against the moving vehicle (2) in the second direction with a second preset abutting force.

10. An intelligent logistics pallet crane control system based on a warehouse scanning model, characterized in that: A stacking crane used in a warehouse, wherein the warehouse is provided with an aerial slide rail (1), and the stacking crane comprises a moving trolley (2), a hook (3), a first tractor (4) and a second tractor (5); the moving trolley (2) is slidably connected to the aerial slide rail (1); the hook (3) is lifted and connected to the moving trolley (2); the first tractor (4) is slidably connected to the aerial slide rail (1) on a side of the moving trolley (2) facing a first direction; the second tractor (5) is slidably connected to the aerial slide rail (1) on a side of the moving trolley (2) facing a second direction; and the first tractor (4) and the second tractor (5) are both connected to the moving trolley (2) via cables; Among them, the intelligent logistics palletizing crane control system based on the warehouse scanning model includes: The data acquisition module (1101) is configured to: obtain yard storage data and control data, obtain yard cargo location data based on the yard storage data, and monitor the swing amplitude and real-time position of the cargo on the hook (3); A computing module (1102) is connected to the data acquisition module (1101) for communication, and the computing module (1102) is configured to: if the control data controls the moving vehicle (2) to move in a first direction, obtain the target position of the goods in the first direction according to the control data and the yard cargo location data; an acceleration control module (1103) which is in communication connection with the data acquisition module (1101) and the calculation module (1102) respectively, and the acceleration control module (1103) is configured to: if the speed of the mobile vehicle (2) is less than a set transport speed, control the first dragger (4) to drag the mobile vehicle (2) in the first direction with a constant first preset pulling force; An operation control module (1104) is respectively connected to the data acquisition module (1101) and the calculation module (1102), and the operation control module (1104) is configured to: if the speed of the mobile vehicle (2) is greater than or equal to the set transport speed, control the first tractor (4) and the second tractor (5) to follow the mobile vehicle (2); A swing control module (1105) is respectively connected to the data acquisition module (1101) and the calculation module (1102), and the swing control module (1105) is configured to: when the speed of the mobile trolley (2) is greater than or equal to the set transport speed, and the swing amplitude of the goods is greater than or equal to the preset amplitude, when the goods swing toward the first direction, control the first tractor (4) to apply a single drag to the mobile trolley (2), and when the goods swing toward the second direction, control the second tractor (5) to apply a single drag to the mobile trolley (2) until the swing amplitude is less than the preset amplitude; wherein the force application time of the single drag is less than the preset force application time; and The soft box-keeping control module (1106) is respectively connected to the data acquisition module (1101) and the calculation module (1102), and the soft box-keeping control module (1106) is configured to: if the distance between the goods and the target position is less than or equal to the preset safety distance, stop the power of the mobile cart (2), and control the second dragger (5) to drag the mobile cart (2) in the second direction with a constant second preset pulling force until the speed of the mobile cart (2) is reduced to the preset box-keeping speed, and control the mobile cart (2) to smoothly transport the goods to the target position at the preset box-keeping speed.

Images