Roll-shaped material carrying system and method thereof

Abstract

The invention discloses a coiled material carrying system and method, and belongs to the technical field of warehouse logistics equipment. Wherein the pallet stacker is located on a roadway between the two goods shelves and can move on the ground rail through walking wheels, the pallet stacker is further provided with a clamping and holding mechanism, a rotating mechanism and a lifting mechanism, independent control units are arranged on the goods carrying table and the machine-mounted cabinet respectively, and the control unit of the goods carrying table and the control unit of the machine-mounted cabinet are in communication connection with the warehouse control system. Detection frames are arranged on the two sides of the conveyor, visual detection mechanisms are arranged on the detection frames, and the goods shelf is provided with a plurality of sections of channel steel used for containing coiled materials. According to the coiled material carrying system and method, the warehouse control system is in communication connection with the tray stacking machine, the conveyor, the goods shelf and the visual detection mechanism, high-precision positioning and measurement are achieved, the space utilization rate of a coiled material three-dimensional warehouse is increased, dynamic goods management is achieved, and the working efficiency is improved. And the flexibility and the automation degree of roll stock warehouse management are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of warehousing and logistics equipment, and in particular relates to a roll material handling system and method thereof. Background Art

[0002] In automated logistics and warehousing systems, the handling of roll materials is an important link.

[0003] The existing roll material handling system has the following problems: the traditional roll material handling system often lacks accurate measurement methods during the grabbing and handling process, resulting in the inability to accurately obtain the size and position information of the material, affecting the handling efficiency and safety. In addition, the existing handling system still relies on manual operation or has a low degree of automation, resulting in high labor intensity and low efficiency. Summary of the invention

[0004] In order to address the deficiencies in the prior art in the above-mentioned background technology, the present invention provides a roll material handling system and method thereof, which realizes high-precision positioning and measurement through communication among a warehouse control system, a pallet stacker, a conveyor, a shelf, and a visual inspection mechanism, thereby improving the space utilization rate of a roll material stereoscopic warehouse, realizing dynamic cargo management, and improving the flexibility and automation level of roll material storage management.

[0005] The technical solution is as follows:

[0006] In one aspect, a roll material handling system is provided, comprising:

[0007] Warehouse control system, several conveyors, pallet stackers and racks;

[0008] The pallet stacker is used to carry rolled materials. It is located in the lane between two shelves. Its bottom surface is provided with running wheels that match a single ground rail installed on the ground of the lane. It can move on the ground rail through the running wheels. It is also provided with a column. A cargo platform is provided on one side of the column. A clamping mechanism and a rotating mechanism are provided on the cargo platform. An onboard cabinet and a lifting mechanism are provided on the other side of the column. Independent control units are provided on the cargo platform and the onboard cabinet, respectively. The control unit of the cargo platform and the control unit of the onboard cabinet are respectively connected to the warehouse control system for communication;

[0009] The conveyor is located at the lower end of the shelf, which is connected to the warehouse control system in communication, and a material tray is arranged on it. A detection frame is arranged on both sides of the conveyor. The center line of the detection frame is located on the middle line of the conveyor. The detection frame is provided with a visual detection mechanism, which is connected to the warehouse control system in communication. The visual detection mechanism is used for measuring and positioning the rolled material. The measurement data of the rolled material is the diameter and width data of the rolled material.

[0010] The shelf is provided with a plurality of channel steel sections, each of which is used to store at least two rolled materials, and the shelf is communicatively connected with the warehouse control system;

[0011] When releasing the goods, the visual inspection mechanism transmits the diameter and width data of the rolled material to the warehouse control system, which transmits the diameter and width data of the rolled material to the pallet stacker and adjusts the fork spacing of the clamping mechanism so that the clamping mechanism can clamp the rolled material. The warehouse control system obtains the center coordinate data of the position where the rolled material is stored on the shelf and transmits it to the pallet stacker, which executes the instructions and moves the rolled material to the specified position on the shelf.

[0012] Furthermore, it is also provided with a passive wire-paying module for manual passive wire-paying. The passive wire-paying module includes two sets of upper and lower rotating mechanisms. The rotating mechanism at the upper end is suitable for small-diameter rolled materials, and the clamping rotating mechanism at the lower end is suitable for large-diameter rolled materials. The rotating mechanism is two hexagonal rotating disks.

[0013] Furthermore, the rotating mechanism includes a slewing bearing, which includes an inner ring on a fork-picking device arranged on the cargo platform, an outer ring fixedly connected to the cargo platform, and a rolling body located between the inner ring and the outer ring. The fork-picking device is fixedly installed under the cargo platform, and the slewing bearing drives the cargo platform to rotate 180°.

[0014] Furthermore, the clamping mechanism includes a back plate and two clamping arms, the back plate is provided with a guide rail, the two clamping arms are provided with two corresponding racks, the gear arranged on the back plate is respectively meshed with the two racks, and the linear slider mounted on the guide rail is connected to the clamping arm.

[0015] Furthermore, the lifting mechanism includes a lifting motor, a reducer, a drum and a steel rope arranged on the drum. One end of the steel rope is connected to the drum, and the other end is connected to the cargo platform. The motor drives the drum to rotate through the reducer, driving the steel rope to rotate, thereby driving the lifting and lowering of the cargo platform.

[0016] Furthermore, the visual inspection mechanism includes two pairs of binocular stereo vision cameras and an edge computing box system communicatively connected to the binocular stereo vision cameras. The edge computing box system is communicatively connected to the warehouse control system. A pair of binocular stereo vision cameras are respectively provided at high and low positions on both sides of the inspection frame. The two binocular stereo vision cameras at high positions are responsible for the measurement and positioning of larger-sized rolled materials, and the two binocular stereo vision cameras at low positions are responsible for the measurement and positioning of smaller-sized rolled materials. The edge computing box system is provided with a V-POS spool detection visual inspection system.

[0017] Furthermore, the warehouse control system uses OPC UA communication to transmit data.

[0018] On the other hand, a roll material handling method is provided, which is applied to the warehouse control system in the roll material handling system. The roll material handling method includes a roll material placing method and a roll material picking method. The roll material placing method is as follows:

[0019] Step S1, in response to receiving a release command, executing a method for generating the size of a roll material, the method for generating the size of a roll material comprising:

[0020] Sending a data collection instruction to the visual inspection mechanism so that the visual inspection mechanism can recognize the width and diameter data of the rolled material;

[0021] Step S2: sending an initialization instruction to the pallet stacker so that the pallet stacker performs an initialization operation, and the pallet stacker adjusts the fork spacing of the clamping mechanism to clamp the rolled material;

[0022] Step S3: sending a roll material placing instruction to the pallet stacker, and sending the center coordinate data of the position where the roll material is placed on the shelf to the pallet stacker, so that the pallet stacker executes the instruction and places the roll material at the designated position of the shelf;

[0023] The method for picking up rolled materials includes: a warehouse control system responds to receiving a picking command, the warehouse control system obtains the center coordinate information of the position where the rolled materials are stored on the shelf, sends the picking instruction to the pallet stacker, and the pallet stacker executes the instruction and moves to a designated position on the shelf to clamp the rolled materials.

[0024] The algorithm for measuring and positioning the roll material of the visual inspection mechanism includes:

[0025] During initialization, the detection reference plane is established with the plane of the pallet, and the outer edge is used as the reference reference line, and the detection space coordinate system is established based on this;

[0026] Two binocular stereo vision cameras at high or low positions obtain the point cloud of the shaft ends on the pallet;

[0027] Calculate the minimum circumscribed cuboid of the spatial point cloud above the detection reference plane;

[0028] The width of the smallest circumscribed cuboid is the diameter of the rolled material, and the length of the smallest circumscribed cuboid is the width of the rolled material;

[0029] The distance between the cuboid and the front edge and the distance between the cuboid and the left edge complete the positioning of the rolled material;

[0030] Among them, the two binocular stereo vision cameras at the upper position are used to measure and locate the larger-sized rolled materials, and the two cameras at the lower position are responsible for the measurement and positioning of the smaller-sized rolled materials.

[0031] Step S3 also includes:

[0032] The warehouse control system sends the center coordinates of the position where the rolled materials are placed on the shelf to the control unit of the pallet stacker's loading platform and the control unit of the onboard cabinet. After receiving the center coordinate information of the position where the rolled materials are placed on the shelf, the control unit of the pallet stacker's loading platform and the control unit of the onboard cabinet adjust the height through the lifting mechanism and move through the ground rail to transport the rolled materials on the clamping mechanism to the designated position on the shelf.

[0033] The technical solution includes at least the following technical effects:

[0034] 1. The rotating mechanism on the pallet stacker can rotate 180° to pick up and place rolled materials on the shelves on both sides of the aisle; the ground track is changed from double tracks to single track to reduce the difficulty of installation; the clamping mechanism can pick up and place rolled materials of different widths and diameters;

[0035] 2. The inspection frames on both sides of the conveyor are equipped with visual inspection mechanisms for measuring and positioning rolled materials, which can achieve high-precision, high environmental tolerance, ease of use, high reliability, and low-cost visual inspection mechanisms;

[0036] 3. The warehouse control system communicates with the pallet stacker, shelf, and visual inspection machine respectively, and transmits data through OPC UA communication to improve data transmission efficiency and accuracy.

[0037] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0039] Figure 1 A schematic diagram of the three-dimensional structure of a roll material handling system provided in a preferred embodiment;

[0040] Figure 2 A top view of a roll material handling system provided for a preferred embodiment;

[0041] Figure 3 for Figure 2 A cross-sectional view of DD in FIG.

[0042] Figure 4 It is a schematic diagram of the structure for storing materials on the shelf;

[0043] Figure 5 It is a structural schematic diagram of a pallet stacker;

[0044] Figure 6A top view of a pallet stacker;

[0045] Figure 7 It is a schematic diagram of a roll material of a visual inspection mechanism;

[0046] Figure 8 It is a schematic diagram of the algorithm of the visual inspection mechanism;

[0047] Fig. 9 Topograph for visual inspection agencies;

[0048] Description of reference numerals:

[0049] 1. Shelves; 2. Passive pay-off module; 3. Detection frame; 4. Pallet stacker; 4-1. Ground rail; 4-2. Cargo platform; 4-3. Onboard cabinet; 4-4. Column; 4-5. Slewing bearing; 4-6. Reel; 4-7. Steel rope; 4-8. Lifting motor; 4-9. Reducer; 4-10. Clamp arm; 4-11. Linear slider; 4-12. Ladder; 4-13. Fork-picking device; 4-14. First gear; 4-15. Ball; 4-16. Second gear; 4-17. Back plate; 5. Conveyor; 6. Material pallet; 7. Center line of aisle; 8. Center line of ground rail; 9. Cable reel; 10. Factory column; 11. Binocular stereo vision camera. DETAILED DESCRIPTION

[0050] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0051] The present application provides a roll material handling system and method. Taking roll cable materials as an example, high-precision positioning and measurement are achieved through communication between the warehouse control system, pallet stacker, conveyor, passive wire-paying module and visual inspection mechanism, thereby improving the space utilization rate of the roll material warehouse, realizing dynamic cargo management, and improving the flexibility and automation of roll material storage management.

[0052] As attached Figure 1 -Attached Fig. 9As shown, in this embodiment, the rolled material takes the cable reel as an example, and a rolled material handling system is provided, including a warehouse control system WCS, a plurality of conveyors 5, a pallet stacker 4 and a shelf 1; a detection frame 3 located on both sides of the conveyor 5, and a visual detection mechanism for measuring and positioning the reel is provided on the detection frame 3, and the visual detection mechanism is used for measuring and positioning the reel, and the warehouse control system WCS is respectively communicated with the visual detection mechanism, the pallet stacker 4, the shelf 1 and the conveyor 5.

[0053] The conveyor 5 is located at the lower end of the shelf 1, on which a material tray 6 is arranged, on which a cable reel 9 is placed, and on both sides of which detection frames 3 are arranged. The center line of the detection frame 3 is located on the middle line of the conveyor 5, and the detection frame 3 is provided with a visual detection mechanism.

[0054] The shelf 1 is provided with a plurality of channel steel sections, each of which is used to store at least two cable reels 9. Different from the shelf 1 in the prior art, no cushion beam is provided, and a channel steel is directly used, and at least two cable reels 9 are placed on each channel steel, thereby reducing the cost and the labor installation cost. Two large-diameter cable reels or four small-diameter cable reels 9 can be placed on each channel steel. Figure 4 When the clamping mechanism moves the cable reel to the shelf, it does not need to rotate the cable reel and can be placed directly on the channel steel.

[0055] When releasing the goods, the visual inspection mechanism transmits the diameter and width data of the cable reel 9 to the warehouse control system, and the warehouse control system WCS transmits the diameter and width data of the cable reel 9 to the pallet stacker 4, adjusts the fork spacing of the clamping mechanism so that the clamping mechanism can clamp the cable reel 9, and the warehouse control system obtains the center coordinate data of the position where the cable reel 9 is stored on the shelf 1 and transmits it to the pallet stacker 4, which executes the instruction and moves the cable reel 9 to the specified position on the shelf 1.

[0056] The warehouse control system WCS uses OPC UA communication, which has the following effects:

[0057] Improve data transmission efficiency and accuracy: OPC UA servers use standardized protocols and data formats to transmit data quickly and efficiently while ensuring data accuracy.

[0058] Reduce data loss rate: OPC UA server has the characteristics of strong reliability and high stability, which can avoid data loss caused by network failure and other reasons.

[0059] Realize data integration and intercommunication: OPC UA server supports multiple industrial protocols and data formats, which can realize data integration and intercommunication, and provide more comprehensive and accurate data support for factory management and decision-making.

[0060] Improve the automation level of the production process: OPC UA server can achieve seamless connection and information exchange between production equipment and systems, thereby realizing automatic control and optimization, and improving the automation level and production efficiency of the production process.

[0061] Enhanced system security and reliability: OPC UA servers support a variety of security mechanisms to protect the security and reliability of factory systems and data.

[0062] like Figure 5 and Figure 6 As shown, the pallet stacker uses a cable robot to carry cables to a designated position on the shelf, or to carry cables on the shelf out. The pallet stacker 4 is located in the lane between two shelves 1. A single ground rail 4-1 is provided on the ground of the lane. The bottom surface of the pallet stacker 4 is provided with a running wheel matching the ground rail 4-1. The pallet stacker 4 can move on the ground rail 4-1 through the running wheel. It is also provided with a column 4-4. A cargo platform 4-2 is provided on one side of the column 4-4. A clamping mechanism and a rotating mechanism are provided on the cargo platform 4-2. An onboard cabinet 4-3 and a lifting mechanism are provided on the other side of the column 4-4. Independent control units PLC are provided on the cargo platform 4-2 and the onboard cabinet 4-3, respectively. The cargo platform control unit and the onboard cabinet control unit are respectively connected to the warehouse control system WCS for communication.

[0063] The columns have a variable cross-section, which is larger at the bottom and smaller at the top, thus reducing the weight of the equipment.

[0064] A single ground rail is provided on the ground of the laneway, replacing the double ground rails in the prior art, thus reducing the difficulty of installation.

[0065] The rotating mechanism includes a slewing bearing 4-5, which includes an inner ring on the fork-taking device 4-13 disposed on the cargo platform 4-2, an outer ring fixedly connected to the cargo platform 4-2, and a rolling body located between the inner ring and the outer ring. The slewing bearing 4-5 drives the entire fork-taking device to rotate 180 degrees, so that the cargo can be taken and placed on both sides of the lane. In this embodiment, the rolling body is a ball.

[0066] The clamping mechanism includes a back plate 4-17 and a clamping component. In this embodiment, the clamping component is a clamping arm. A guide rail is provided on the back plate 4-17. Two corresponding racks are provided on the two clamping arms 4-10. The gears provided on the back plate 4-17 are respectively meshed with the two racks. The linear slider 4-11 sleeved on the guide rail is connected to the clamping arm 4-10. The clamping mechanism can take and place goods of different width specifications (W340mm~700mm) and different diameter specifications (D400mm~1200mm).

[0067] The lifting mechanism includes a lifting motor 4-8, a reducer 4-9, a drum 4-6 and a steel rope 4-7 arranged on the drum 4-6. One end of the steel rope 4-7 is connected to the drum 4-6, and the other end is connected to the cargo platform 4-2. The motor drives the drum 4-6 to rotate through the reducer, driving the steel rope 4-7 to rotate, thereby driving the lifting and lowering of the cargo platform 4-2.

[0068] In one embodiment, a passive wire-releasing module 2 is provided near the ground on a shelf 1 of a roll material handling system, and passive wire-releasing is performed manually. The passive wire-releasing module 2 is connected to a warehouse control system for communication. The passive wire-releasing module 2 includes two sets of upper and lower rotating mechanisms. The rotating mechanism at the upper end is suitable for a small-diameter cable reel 9, and the clamping rotating mechanism at the lower end is suitable for a large-diameter cable reel 9. The rotating mechanism is two hexagonal rotating disks that can rotate the reel. According to the cable diameter required by the factory, manual passive wire-releasing is performed.

[0069] In one embodiment, a roll material handling system is provided with a ladder 4-12, through which a worker goes to maintain components at the top.

[0070] like Figure 7 and Figure 8 As shown, the visual inspection mechanism includes two pairs of binocular stereo vision cameras 11, and an edge computing box system that is connected to the binocular stereo vision cameras 11. A pair of binocular stereo vision cameras 11 are respectively arranged at the high and low positions on both sides of the inspection frame 3. The two binocular stereo vision cameras 11 at the high position, the edge computing box system is connected to the warehouse control system for communication, and is responsible for the measurement and positioning of larger-sized rolled materials. The two binocular stereo vision cameras 11 at the low position are responsible for the measurement and positioning of smaller-sized rolled materials. The edge computing box system is equipped with a V-POS bobbin detection visual inspection system. The edge computing box system adopts the V-Tron platform, which can provide services such as equipment management, equipment and service monitoring, self-developed hardware acceleration algorithm library and TCP Server, call AI barcode recognition and data reading, and GV-ICP and other algorithms; develop plane detection algorithms, point cloud processing and measurement, TCP communication protocol functions, etc.

[0071] like Fig. 9 As shown in the figure, the edge computing box system is connected to the binocular stereo vision camera and connected to the switch / router / warehouse control system WCS through a network cable. The TCP communication protocol is used for communication, with the edge end as the server and the system host as the client.

[0072] On the other hand, a roll material handling method is provided, which is applied to a warehouse control system WCS in the above-mentioned roll material handling system, and the method comprises the following steps:

[0073] A roll material handling method includes a roll material placing method and a roll material picking method. The roll material placing method is as follows:

[0074] Step S1, in response to receiving a release command, executing a method for generating the size of a roll material, the method for generating the size of a roll material comprising:

[0075] Sending a data collection instruction to the visual inspection mechanism so that the visual inspection mechanism can recognize the width and diameter data of the rolled material;

[0076] Camera brackets are installed on both sides of the detection frame 3, and a pair of binocular stereo vision cameras 11 are installed at the upper and lower positions. The two binocular stereo vision cameras 11 at the upper position are responsible for the measurement and positioning of larger-sized rolled materials, and the two cameras at the lower position are responsible for the measurement and positioning of smaller-sized rolled materials; measuring the diameter and width of the rolled materials, and determining the position of the rolled materials on the pallet.

[0077] Specifically, according to the site conditions, the camera installation position and height are preliminarily calculated. The camera is installed on the bracket and pre-tightened. Enter the edge computing box IP in the browser and open the tool software. Stack the pallet and goods on conveyor 5. Observe and confirm through the software that the binocular camera can fully see the highest plane of the pallet and goods, tighten the camera, remove the pallet, and click "Establish Reference Plane" on the software. The system will automatically establish the reference plane.

[0078] Algorithms for measuring and positioning roll materials, such as Figure 8 As shown, taking a pair of binocular stereo vision cameras at a high altitude as an example,

[0079] S101, during initialization, a detection reference plane is established with the plane of the pallet, the outer edge is used as a reference reference line, and a detection space coordinate system is established based on this; a reference plane and a positioning coordinate system are established based on this;

[0080] S102. Two binocular stereo vision cameras C1-1 and C1-2 at a high position obtain a point cloud of the shaft end on the tray;

[0081] S103. Calculate the minimum circumscribed cuboid of the space point cloud above the detection reference plane;

[0082] S104. The width W of the smallest circumscribed cuboid is the diameter of the rolled material, and L is the width of the rolled material;

[0083] S105. The distance GF from the front edge of the cuboid and the distance GL from the left edge complete the positioning of the roll material;

[0084] Step S2: sending an initialization instruction to the pallet stacker 4 so that the pallet stacker 4 performs an initialization operation, sending an initialization instruction to the pallet stacker 4 so that the pallet stacker 4 performs an initialization operation, and the pallet stacker 4 adjusts the fork spacing of the clamping mechanism to clamp the rolled material; the specific steps are as follows:

[0085] The warehouse control system WCS sends the data information of the width and diameter of the rolled material to the loading platform control unit PLC of the pallet stacker 4. The loading platform control unit PLC receives the data information of the width and diameter of the rolled material and adjusts the fork spacing of the two clamping arms 4-10 of the clamping mechanism to clamp the rolled material.

[0086] Step S3: Send a roll material placing instruction to the pallet stacker 4, and send the center coordinates of the position where the roll material is placed on the shelf 1 to the pallet stacker 4, so that the pallet stacker 4 executes the command and places the roll material at the specified position on the shelf 1; the specific steps are as follows:

[0087] The warehouse control system WCS sends the center coordinates of the position where the rolled materials are placed on shelf 1 to the control unit PLC of the loading platform 4-2 of the pallet stacker 4 and the control unit PLC of the onboard cabinet 4-3. After receiving the center coordinate information of the position where the rolled materials are placed on shelf 1, the control unit PLC of the loading platform 4-2 of the pallet stacker 4 and the control unit PLC of the onboard cabinet 4-3 adjust the height through the lifting mechanism and move through the ground rail 4-1 to transport the rolled materials on the clamping mechanism to the specified position on shelf 1.

[0088] The method of picking up roll materials is as follows:

[0089] The warehouse control system WCS responds to receiving the pick-up command. At this time, the width and diameter data of the rolled material already exist in the warehouse control system WCS. The warehouse control system WCS obtains the center coordinate information of the position where the rolled material is stored on the shelf 1, and sends it to the pallet stacker 4 to send a pick-up instruction. The pallet stacker 4 executes the instruction, adjusts the fork spacing and height of the clamping mechanism, and moves to the specified position on the shelf 1 to clamp the rolled material.

[0090] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention invented herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not invented by the present invention. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present invention are indicated by the appended claims.

[0091] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A roll material handling system, characterized in that: It includes a warehouse control system, a plurality of conveyors (5), a pallet stacker (4) and a shelf (1); A pallet stacker (4) is located on a lane between two shelves (1), and has a bottom surface provided with running wheels matching a single ground rail (4-1) installed on the ground of the lane, and can move on the ground rail (4-1) via the running wheels. It is also provided with a column (4-4), a cargo platform (4-2) is provided on one side of the column (4-4), a clamping mechanism and a rotating mechanism are provided on the cargo platform (4-2), and an onboard cabinet (4-3) and a lifting mechanism are provided on the other side of the column (4-4). Independent control units are provided on the cargo platform (4-2) and the onboard cabinet (4-3), respectively, and the cargo platform control unit and the onboard cabinet control unit are respectively connected to the warehouse control system for communication; A conveyor (5) is located at the lower end of the shelf (1), is communicatively connected to the warehouse control system, is provided with a material tray (6), is provided with a detection frame (3) on both sides, the center line of the detection frame (3) is located on the middle line of the conveyor (5), and is provided with a visual detection mechanism on the detection frame (3), which is communicatively connected to the warehouse control system, and is used for measuring and positioning the rolled material, and the measurement data of the rolled material is the diameter and width data of the rolled material; The shelf (1) is provided with a plurality of channel steel sections, each channel steel section is used to store at least two rolled materials, and the shelf (1) is communicatively connected to a warehouse control system; When releasing the goods, the visual inspection mechanism transmits the data of the diameter and width of the rolled material to the warehouse control system, the warehouse control system transmits the data of the diameter and width of the rolled material to the pallet stacker (4), adjusts the fork spacing of the clamping mechanism so that the clamping mechanism can clamp the rolled material, the warehouse control system obtains the center coordinate data of the position where the rolled material is stored on the shelf (1) and transmits it to the pallet stacker (4), the pallet stacker (4) executes the instruction and moves the rolled material to the specified position on the shelf (1).

2. The roll material handling system according to claim 1, characterized in that: It is also provided with a passive wire-paying module (2) for manually performing passive wire-paying. The passive wire-paying module (2) comprises two sets of upper and lower rotating mechanisms. The rotating mechanism at the upper end is suitable for rolled materials with a small diameter, and the clamping rotating mechanism at the lower end is suitable for rolled materials with a large diameter. The rotating mechanism is two hexagonal rotating disks.

3. The roll material handling system according to claim 1 or 2, characterized in that: The rotating mechanism comprises a slewing bearing (4-5), wherein the slewing bearing (4-5) comprises an inner ring arranged on a fork-picking device (4-13) on a cargo platform (4-2), an outer ring fixedly connected to the cargo platform (4-2), and a rolling body located between the inner ring and the outer ring, and the slewing bearing (4-5) drives the fork-picking device (4-13) to rotate 180 degrees.

4. The roll material handling system according to claim 1 or 2, characterized in that: The clamping mechanism comprises a back plate (4-17) and two clamping arms (4-10); a guide rail is provided on the back plate (4-17); two corresponding racks are provided on the two clamping arms (4-10); a gear arranged on the back plate (4-17) is respectively meshed with the two racks; and a linear slider (4-11) sleeved on the guide rail is connected to the clamping arm (4-10).

5. The roll material handling system according to claim 1 or 2, characterized in that: The lifting mechanism comprises a lifting motor (4-8), a speed reducer (4-9), a drum (4-6) and a steel rope (4-7) arranged on the drum (4-6); one end of the steel rope (4-7) is connected to the drum (4-6) and the other end is connected to the cargo platform (4-2); the motor drives the drum (4-6) to rotate through the speed reducer, thereby driving the steel rope (4-7) to rotate, thereby driving the cargo platform (4-2) to rise and fall.

6. The roll material handling system according to claim 1 or 2, characterized in that: The visual inspection mechanism includes two pairs of binocular stereo vision cameras (11), and an edge computing box system that is communicatively connected to the binocular stereo vision cameras (11). The edge computing box system is communicatively connected to the warehouse control system. A pair of binocular stereo vision cameras (11) are respectively arranged at the upper and lower positions on both sides of the inspection frame (3). The two binocular stereo vision cameras (11) at the upper position are responsible for the measurement and positioning of larger-sized rolled materials, and the two binocular stereo vision cameras (11) at the lower position are responsible for the measurement and positioning of smaller-sized rolled materials. The edge computing box system is provided with a V-POS spool detection visual inspection system.

7. The roll material handling system according to claim 1 or 2, characterized in that: The warehouse control system uses OPC UA communication to transmit data.

8. A roll material handling method, applied to a warehouse control system in a roll material handling system according to any one of claims 1 to 7, characterized in that: The roll material handling method includes the roll material placing method and the roll material picking method. The roll material placing method is as follows: Step S1, in response to receiving a release command, executing a method for generating the size of a roll material, the method for generating the size of a roll material comprising: Sending a data collection instruction to the visual inspection mechanism so that the visual inspection mechanism can recognize the width and diameter data of the rolled material; Step S2: sending an initialization instruction to the pallet stacker (4) so ​​that the pallet stacker (4) performs an initialization operation, and the pallet stacker (4) adjusts the fork spacing of the clamping mechanism to clamp the rolled material; Step S3: sending a roll material placing instruction to the pallet stacker (4), sending the center coordinate data of the position where the roll material is placed on the shelf (1) to the pallet stacker (4), so that the pallet stacker (4) executes the instruction and places the roll material at the designated position on the shelf (1); A method for picking up rolled materials comprises: a warehouse control system responds to receiving a picking command, the warehouse control system obtains the center coordinate information of the position where the rolled materials are stored on a shelf (1), sends the picking instruction to a pallet stacker (4), and the pallet stacker (4) executes the instruction and moves to a designated position on the shelf (1) to clamp the rolled materials.

9. The method for handling rolled materials according to claim 8, characterized in that: The algorithm for measuring and positioning the roll material of the visual inspection mechanism includes: During initialization, a detection reference plane is established with the plane of the material tray (6), and the outer edge is used as a reference reference line, and a detection space coordinate system is established based on this; Two binocular stereo vision cameras (11) at high or low positions obtain a point cloud of the shaft end on the material tray (6); Calculate the minimum circumscribed cuboid of the spatial point cloud above the detection reference plane; The width of the smallest circumscribed cuboid is the diameter of the rolled material, and the length of the smallest circumscribed cuboid is the width of the rolled material; The distance between the cuboid and the front edge and the distance between the cuboid and the left edge complete the positioning of the rolled material; The two binocular stereo vision cameras (11) at a high position are used to measure and position the rolled materials of a larger size, and the two binocular stereo vision cameras (11) at a low position are used to measure and position the rolled materials of a smaller size.

10. The method for handling rolled materials according to claim 8, characterized in that: Step S3 also includes: The warehouse control system sends the center coordinates of the position where the rolled material is placed on the shelf (1) to the control unit of the loading platform of the pallet stacker (4) and the control unit of the onboard cabinet. After receiving the center coordinate information of the position where the rolled material is placed on the shelf (1), the control unit of the loading platform of the pallet stacker (4) and the control unit of the onboard cabinet adjust the height through the lifting mechanism and move through the ground rail (4-1) to transport the rolled material on the clamping mechanism to the designated position on the shelf (1).

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