Distribution method and system of intelligent three-dimensional container

Abstract

The invention belongs to the technical field of intelligent three-dimensional warehouses, and provides an intelligent three-dimensional container distribution method and system. Before electric power material equipment is distributed, the size of the electric power material equipment is determined according to light round-trip time through laser data; the height difference between the height size of the storage location and the electric power material equipment and the length difference and the width difference between the size of the tray and the electric power material equipment are calculated respectively, candidate trays are determined on this basis for equipment distribution, and distribution is carried out in storage locations and trays of various sizes in a simple size calculation and matching mode; the utilization rate of each storage location and tray space can be guaranteed, the distribution accuracy and efficiency are high, and when a large number of electric power material devices are distributed to the trays in the three-dimensional warehouse at the same time, the method has the advantages of being small in data size needing to be processed, high in judgment speed and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent stereoscopic warehouses, and in particular relates to a distribution method and system for intelligent stereoscopic containers. Background Art

[0002] The automatic three-dimensional warehouse for electric power materials mainly includes shelves, pallets, stackers, dispatching and management systems, etc. The dispatching and management system mainly completes the operation process control, real-time monitoring, and logistics information management and tracking of electric power material equipment. Among them, the size of pallets in most automatic three-dimensional warehouses for electric power materials is fixed and designed according to the size of the maximum bearing equipment; in order to further improve the space utilization rate of the three-dimensional warehouse, multiple pallets in the same three-dimensional warehouse are classified according to size. After classification, they can be adapted to a variety of electric power material equipment to avoid the problem of space waste caused by placing smaller-sized electric power material equipment on pallets.

[0003] The classification of pallets has brought pressure to the dispatching system of the automatic three-dimensional warehouse for electric power materials. At present, the main method adopted is to manually specify pallets according to the equipment type, and then input the destination pallet into the program to allocate the equipment when it enters the warehouse, or to classify the pallets in advance and only allow the same type of electric power materials and equipment to be allocated to the pallets in the designated area; the current dispatching method has poor flexibility in the allocation of electric power materials and equipment, which is not conducive to the accurate allocation of electric power materials and equipment, especially when a large number of electric power materials and equipment are allocated to the pallets in the three-dimensional warehouse at the same time, there are still problems of random allocation and low space utilization, and the allocation accuracy and efficiency are not high. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes an allocation method and system for intelligent three-dimensional containers. The present invention determines the size of power material equipment through laser data according to the round-trip time of light, calculates the height difference between the height size of the storage location and the power material equipment, and the length difference and width difference between the pallet size and the power material equipment, and determines the candidate pallets for equipment allocation. The allocation is carried out in storage locations and pallets of various sizes in a simple size calculation and matching manner, which can ensure the utilization rate of each storage location and pallet space, and the allocation accuracy and efficiency are high. When a large number of power material equipment are simultaneously allocated to the pallets in the three-dimensional warehouse, it has the advantages of small amount of data to be processed and fast judgment speed.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, the present invention provides a method for allocating intelligent three-dimensional containers, comprising:

[0007] Obtain laser data from multiple directions of power materials and equipment, as well as the height dimensions and pallet dimensions of all vacant storage locations;

[0008] By using the acquired laser data and the round trip time of the light, the size of the power material equipment can be determined;

[0009] Based on the preset storage method of power materials and equipment, the height difference between the storage location height and the power materials and equipment, the length difference between the pallet size and the power materials and equipment, and the width difference are calculated in the storage height, width and length directions respectively;

[0010] The height difference, length difference and width difference are respectively within the preset height difference range, the preset length difference range and the preset width difference range, and the corresponding pallets are marked as candidate pallets; the pallet closest to the power material equipment is determined as the target pallet among the candidate pallets;

[0011] Assign electrical supplies to target pallets.

[0012] Furthermore, when determining the maximum dimensions of the power material equipment in the width and length directions of the storage, the deviation angle between the two points with the shortest laser reflection time on the opposite sides is judged. If the deviation angle is larger than the preset angle, the middle value of the shortest and longest laser reflection times is taken to determine the maximum dimensions of the power material equipment in the width and length directions of the storage.

[0013] Furthermore, when determining the maximum size of the power material equipment at the storage height, the size corresponding to the shortest value of the laser reflection time is taken.

[0014] Furthermore, if the power material equipment is allowed to be flipped, the largest dimension of the entire equipment is used as the maximum dimension of the power material equipment at the storage height, and the maximum dimension determined by the laser perpendicular to the storage height direction is the maximum dimension of the power material equipment in the storage length direction.

[0015] Furthermore, the lower limit Min1 of the preset length difference range is:

[0016] Min1=L0+Aα / α0+BL / L1

[0017] Among them, L0 is the preset lower limit of the length difference range without considering the equipment swing; α is the deviation angle between the two points with the shortest laser reflection time on the opposite sides; α is the preset angle; L is the length dimension of the tray currently involved in the judgment; L1 is the length dimension of the adjacent tray; A and B are weight parameters; the larger the deviation angle between the two points with the shortest laser reflection time on the opposite sides, the larger the calculated size is compared with the preparation size, and the larger the lower limit of the allowable preset length difference range, conversely, the smaller the lower limit of the allowable preset length difference range; the larger the size of the adjacent tray, the smaller the lower limit of the allowable preset length difference range, conversely, the larger the lower limit of the allowable preset length difference range.

[0018] Furthermore, the lower limit Min2 of the preset width difference range is:

[0019] Min2=C0+βα / α0

[0020] Wherein, L0 is the preset lower limit of the length difference range when the device swing is not considered, which can be determined through actual measurement or experiment, etc.; β is a preset adjustment parameter.

[0021] In a second aspect, the present invention further provides a distribution system for an intelligent three-dimensional container, comprising:

[0022] The data acquisition module is configured to: obtain laser data of power material equipment in multiple directions, as well as the height dimensions and pallet dimensions of all vacant storage locations;

[0023] The size determination module is configured to: determine the size of the power material equipment according to the round trip time of the light by using the acquired laser data;

[0024] The calculation module is configured to: calculate the height difference between the height dimension of the storage location and the power material equipment, the length difference and the width difference between the pallet dimension and the power material equipment in the storage height, width and length directions respectively based on the preset storage mode of the power material equipment;

[0025] The judgment module is configured to: mark the corresponding pallets as candidate pallets if the height difference, length difference and width difference are respectively within the preset height difference range, the preset length difference range and the preset width difference range; and determine the pallet closest to the power material equipment as the target pallet among the candidate pallets;

[0026] The allocation module is configured to allocate the power material equipment to the target pallet.

[0027] In a third aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for distributing electric power materials in an intelligent three-dimensional warehouse as described in the first aspect.

[0028] In a fourth aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein when the processor executes the program, the steps of the method for distributing electric power materials in an intelligent three-dimensional warehouse as described in the first aspect are implemented.

[0029] In a fifth aspect, the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the method for distributing electric power materials in an intelligent three-dimensional warehouse described in the first aspect are implemented.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] In the present invention, before allocating power materials and equipment, the size of the power materials and equipment is determined according to the round-trip time of light through laser data, and the height difference between the height size of the storage location and the power materials and equipment, the length difference and width difference between the pallet size and the power materials and equipment are calculated respectively, and candidate pallets are determined for equipment allocation. In a simple size calculation and matching method, allocation is performed in storage locations and pallets of various sizes, which can ensure the utilization rate of each storage location and pallet space, and the allocation accuracy and efficiency are high. When a large number of power materials and equipment are simultaneously allocated to the pallets in the three-dimensional warehouse, it has the advantages of a small amount of data to be processed and a fast judgment speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0033] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0034] Figure 2 This is a schematic diagram of Example 1 of the present invention when the deflection angle is 0;

[0035] Figure 3 Schematic diagram of the deflection angle of embodiment 1 of the present invention;

[0036] Figure 4 This is a schematic diagram of the device alignment of Example 1 of the present invention;

[0037] Figure 5 This is a schematic diagram of the device tilting according to Example 1 of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0040] Embodiment 1:

[0041] This embodiment provides a method for allocating intelligent three-dimensional containers, comprising the following steps:

[0042] S1. Obtain laser data of power materials and equipment in multiple directions, as well as the height dimensions and pallet dimensions of all vacant storage locations.

[0043] Optionally, the power material equipment is transported to the storage and exit of the intelligent stereoscopic warehouse through AGV trolleys and stackers according to a preset path, and the power material equipment is placed on a pallet. Laser transmitters and laser receivers can be set in four directions at a certain position on the AGV trolley or stacker path to collect laser data of the power material equipment.

[0044] Vacant storage locations can be determined through image acquisition and other technologies, and the data can be updated; storage location height dimensions and pallet dimensions can be measured in advance and stored.

[0045] S2. Determine the size of the power material equipment based on the round-trip time of the light through the acquired laser data. Taking the height of the power material equipment as an example, the height h is:

[0046] h=H-(c*t1 / 2+c*t2 / 2)

[0047] Where H is the distance between the upper and lower light sources; c is the speed of light, which is approximately 3*10 8 m / s; t1 is the round trip time of the first light source; t2 is the round trip time of the second light source. It can be understood that when calculating the height h, the round trip time t1 of the first light source and the round trip time t2 of the second light source are used. 2， The length and width of the power material equipment are calculated in the same way as the height, which will not be described in detail here.

[0048] In some embodiments, Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the position of the power material equipment passing through the AGV trolley and the stacker may deviate. For example, the actual length direction of the power material equipment may deviate from the length direction in the storage direction, resulting in the outward movement of points A and B used to determine the maximum size value, that is, the power material equipment is not properly placed on the AGV trolley and the stacker. At this time, d2 is smaller than d1. The calculated size may be larger than the actual size, which is not conducive to the later judgment. In view of this problem, when determining the maximum size of the power material equipment in the storage width and length direction, the deflection angle α between the two points with the shortest laser reflection time on the opposite side is judged. If the deflection angle α is greater than the preset angle α0, it is judged that the power material equipment has a large deviation angle, which has a greater impact on the final judgment result. The intermediate value of the shortest and longest laser reflection time is taken to determine the maximum size of the power material equipment in the storage width and length direction. By reducing the calculated size, the problem of the calculated size being too large compared to the actual size due to the power material equipment not being properly placed on the AGV trolley and the stacker is avoided.

[0049] If the deflection angle α is not larger than the preset angle α0, and the calculated size value is smaller, it means that even if the calculated size is larger than the actual size, it will not have a significant impact on the final judgment.

[0050] Because the contact between the power material equipment and the bottom of the stacker is relatively stable when passing through the AGV trolley and there is no problem of horizontal deviation, when determining the maximum size of the power material equipment at the storage height, the size corresponding to the shortest laser reflection time is taken.

[0051] S3. Based on the preset storage method of power materials and equipment, calculate the height difference between the storage location height and the power materials and equipment, and the length and width difference between the pallet size and the power materials and equipment in terms of storage height, width and length.

[0052] The optional storage methods include entering the warehouse from the front of the device, entering the warehouse from the side of the device, and entering the warehouse from the bottom or top of the device.

[0053] If the power material equipment is allowed to be turned over, any side of the equipment is allowed to be the front of the storage. At this time, considering that the height of the storage space is larger than the length and width of the pallet, in order to ensure the effective use of the storage space and the flexibility of allocation, at this time, the largest size of the entire equipment is used as the maximum size of the power material equipment at the storage height, and the maximum size determined by the laser perpendicular to the storage height direction is the maximum size of the power material equipment in the storage length direction, so as to ensure that the determined storage location and pallet size are highly matched with the power material equipment.

[0054] S4. Mark the corresponding pallets whose height difference, length difference and width difference are respectively within the preset height difference range, the preset length difference range and the preset width difference range as candidate pallets, so as to avoid space waste while ensuring that the equipment can enter the storage location and pallet smoothly; determine the pallet closest to the power material equipment among the candidate pallets as the target pallet.

[0055] like Figure 3 and Figure 4 As shown in the figure, when the power material equipment is not aligned on the AGV trolley and the stacker, the calculated maximum length and width are required to be greater than the actual maximum length and width, resulting in reduced matching accuracy. However, if the actual length of the power material equipment exceeds the pallet length, it can be compensated with the pallet space in the adjacent storage location, allowing the power material equipment to extend a certain distance to the adjacent storage location, but not too much to avoid affecting the adjacent storage location equipment; Based on this, in order to maximize the configuration flexibility and accuracy, in this embodiment, the lower limit Min1 of the preset length difference range is:

[0056] Min1=L0+Aα / α0+BL / L1

[0057] Among them, L0 is the preset lower limit of the length difference range without considering the equipment swing, which can be determined by actual measurement or test, etc.; α is the deflection angle between the two points with the shortest laser reflection time on the opposite side; α is the preset angle, which can be determined by actual measurement or test, etc.; L is the length dimension of the tray currently involved in the judgment; L1 is the length dimension of the adjacent tray; A and B are weight parameters. It can be understood that the larger the deflection angle α between the two points with the shortest laser reflection time on the opposite side, the larger the calculated size ratio is compared with the preparation size, and the larger the lower limit of the preset length difference range is, avoiding the problem that the power material equipment cannot be placed. On the contrary, the lower limit of the preset length difference range is smaller, improving the utilization of space; and the larger the size of the adjacent tray, the smaller the lower limit of the preset length difference range is, which can provide a larger compensation space for the power material equipment. On the contrary, the larger the lower limit of the preset length difference range is, avoiding the impact on the adjacent tray.

[0058] The lower limit Min2 of the preset width difference range is:

[0059] Min2=C0+βα / α0

[0060] Among them, L0 is the lower limit of the preset length difference range without considering the equipment swing deviation, which can be determined by actual measurement or test, etc.; β is the preset adjustment parameter; when determining the lower limit of the preset width difference range, the compensation problem of adjacent pallets is not considered, because the size of the storage location in the front-to-back direction is large, and the distance between adjacent pallets in the front-to-back direction is far. The preset height difference range can be determined by measurement and test, because the contact between the power material equipment and the bottom of the stacker is relatively stable when passing through the AGV trolley, there is no problem of horizontal deviation, and there is no need to consider the influence of other factors for adjustment.

[0061] S5. Allocate power supplies and equipment to target pallets.

[0062] Optionally, control the AGV and stacker to distribute the power supply equipment to the target pallet.

[0063] Embodiment 2:

[0064] This embodiment provides a distribution system for an intelligent three-dimensional container, including:

[0065] The data acquisition module is configured to: obtain laser data of power material equipment in multiple directions, as well as the height dimensions and pallet dimensions of all vacant storage locations;

[0066] The size determination module is configured to: determine the size of the power material equipment according to the round trip time of the light by using the acquired laser data;

[0067] The calculation module is configured to: calculate the height difference between the height dimension of the storage location and the power material equipment, the length difference and the width difference between the pallet dimension and the power material equipment in the storage height, width and length directions respectively based on the preset storage mode of the power material equipment;

[0068] The judgment module is configured to: mark the corresponding pallets as candidate pallets if the height difference, length difference and width difference are respectively within the preset height difference range, the preset length difference range and the preset width difference range; and determine the pallet closest to the power material equipment as the target pallet among the candidate pallets;

[0069] The allocation module is configured to allocate the power material equipment to the target pallet.

[0070] The working method of the system is the same as the distribution method of the intelligent three-dimensional warehouse of electric power materials in Example 1, and will not be repeated here.

[0071] Embodiment 3:

[0072] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the method for distributing electric power materials in an intelligent three-dimensional warehouse described in Example 1 are implemented.

[0073] Embodiment 4:

[0074] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, the steps of the distribution method of the intelligent three-dimensional warehouse of electric power materials described in Example 1 are implemented.

[0075] Embodiment 5:

[0076] This embodiment provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the method for allocating electric power materials in an intelligent three-dimensional warehouse described in Example 1 are implemented.

[0077] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A method for allocating intelligent three-dimensional containers, characterized in that: include: Obtain laser data from multiple directions of power materials and equipment, as well as the height dimensions and pallet dimensions of all vacant storage locations; By using the acquired laser data and the round trip time of the light, the size of the power material equipment can be determined; Based on the preset storage method of power materials and equipment, the height difference between the storage location height and the power materials and equipment, the length difference between the pallet size and the power materials and equipment, and the width difference are calculated in the storage height, width and length directions respectively; The height difference, length difference and width difference are respectively within the preset height difference range, the preset length difference range and the preset width difference range, and the corresponding pallets are marked as candidate pallets; the pallet closest to the power material equipment is determined as the target pallet among the candidate pallets; Assign electrical supplies to target pallets.

2. The method for distributing intelligent three-dimensional containers according to claim 1, characterized in that: When determining the maximum dimensions of the power materials and equipment in the width and length directions of the storage, determine the deviation angle between the two points with the shortest laser reflection time on the opposite sides. If the deviation angle is greater than the preset angle, take the middle value of the shortest and longest laser reflection times to determine the maximum dimensions of the power materials and equipment in the width and length directions of the storage.

3. The method for distributing intelligent three-dimensional containers according to claim 1, characterized in that: When determining the maximum size of power materials and equipment at the storage height, take the size corresponding to the shortest laser reflection time.

4. The method for distributing intelligent three-dimensional containers according to claim 1, characterized in that: If the power material equipment is allowed to be flipped, the largest dimension of the entire equipment shall be the maximum dimension of the power material equipment at the storage height, and the maximum dimension determined by the laser perpendicular to the storage height direction shall be the maximum dimension of the power material equipment in the storage length direction.

5. The method for distributing an intelligent three-dimensional container according to claim 1, characterized in that: The lower limit Min1 of the preset length difference range is: Min1=L0+Aα / α0+BL / L1 Among them, L0 is the preset lower limit of the length difference range without considering the equipment swing; α is the deviation angle between the two points with the shortest laser reflection time on the opposite sides; α is the preset angle; L is the length dimension of the tray currently involved in the judgment; L1 is the length dimension of the adjacent tray; A and B are weight parameters; the larger the deviation angle between the two points with the shortest laser reflection time on the opposite sides, the larger the calculated size is compared with the preparation size, and the larger the lower limit of the allowable preset length difference range, conversely, the smaller the lower limit of the allowable preset length difference range; the larger the size of the adjacent tray, the smaller the lower limit of the allowable preset length difference range, conversely, the larger the lower limit of the allowable preset length difference range.

6. The method for distributing an intelligent three-dimensional container according to claim 5, characterized in that: The lower limit Min2 of the preset width difference range is: Min2=C0+βα / α0 Wherein, L0 is the preset lower limit of the length difference range when the device swing is not considered, which can be determined through actual measurement or experiment, etc.; β is a preset adjustment parameter.

7. An intelligent three-dimensional container distribution system, characterized in that: include: The data acquisition module is configured to: obtain laser data of power material equipment in multiple directions, as well as the height dimensions and pallet dimensions of all vacant storage locations; The size determination module is configured to: determine the size of the power material equipment according to the round trip time of the light by using the acquired laser data; The calculation module is configured to: calculate the height difference between the height dimension of the storage location and the power material equipment, the length difference and the width difference between the pallet dimension and the power material equipment in the storage height, width and length directions respectively based on the preset storage mode of the power material equipment; The judgment module is configured to: mark the corresponding pallets as candidate pallets if the height difference, length difference and width difference are respectively within the preset height difference range, the preset length difference range and the preset width difference range; and determine the pallet closest to the power material equipment as the target pallet among the candidate pallets; The allocation module is configured to allocate the power material equipment to the target pallet.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method for distributing electric power materials in an intelligent three-dimensional warehouse are implemented as described in any one of claims 1 to 6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the program, the steps of the method for distributing electric power materials in an intelligent three-dimensional warehouse are implemented as described in any one of claims 1-6.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the method for distributing electric power materials in an intelligent three-dimensional warehouse are implemented as described in any one of claims 1 to 6.

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