A roll material handling system and method thereof

Abstract

This invention discloses a roll material handling system and method, belonging to the technical field of warehousing and logistics equipment. The system includes a pallet stacker located in an aisle between two racks, movable on ground rails via wheels, and equipped with a clamping mechanism, a rotating mechanism, and a lifting mechanism. Independent control units are installed on the loading platform and the onboard cabinet, respectively, and are communicatively connected to the warehouse control system. Detection frames are located on both sides of the conveyor, each equipped with a vision inspection mechanism. The racks have several sections of channel steel for placing roll materials. This invention provides a roll material handling system and method that, through communication connections between the warehouse control system and the pallet stacker, conveyor, racks, and vision inspection mechanisms, achieves high-precision positioning and measurement, improves the space utilization of the roll material automated warehouse, enables dynamic cargo management, and enhances the flexibility and automation of roll material storage management.

Description

Technical Field

[0001] This invention belongs to the field of warehousing and logistics equipment technology, and particularly relates to a roll material handling system and method. Background Technology

[0002] In automated logistics and warehousing systems, the handling of rolled materials is a crucial step.

[0003] Existing roll material handling systems suffer from the following problems: Traditional roll material handling systems often lack precise measurement methods during the gripping and handling process, resulting in the inability to accurately obtain the size and location information of the materials, affecting handling efficiency and safety. Furthermore, existing handling systems still rely on manual operation or have low levels of automation, leading to high labor intensity and low efficiency. Summary of the Invention

[0004] To address the shortcomings of existing technologies mentioned above, this invention provides a roll material handling system and method. Through communication between the warehouse control system, pallet stacker, conveyor, rack, and vision inspection mechanism, high-precision positioning and measurement are achieved, improving the space utilization of the roll material automated warehouse, realizing dynamic cargo management, and enhancing the flexibility and automation of roll material storage management.

[0005] The technical solution is as follows:

[0006] On the one hand, a roll material handling system is provided, including,

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

[0008] Pallet stacker cranes are used to handle rolled materials. They are located in an aisle between two racks and have wheels on their bottom that match a single ground rail installed on the aisle floor. The wheels allow them to move on the ground rail. They also have columns with a loading platform on one side, which is equipped with a clamping mechanism and a rotating mechanism. The other side of the column is equipped with a machine cabinet and a lifting mechanism. The loading platform and the machine cabinet are each equipped with an independent control unit. The control unit of the loading platform and the control unit of the machine cabinet are respectively connected to the warehouse control system.

[0009] The conveyor, located at the lower end of the shelf, is connected to the warehouse control system. Material pallets are mounted on it, and detection frames are provided on both sides. The center line of the detection frames is located on the center line of the conveyor. A vision inspection mechanism is provided on the detection frame. The vision inspection mechanism is connected to the warehouse control system and is used for measuring and positioning rolled materials. The measurement data of the rolled materials are the diameter and width data of the rolled materials.

[0010] The shelving is equipped with several sections of channel steel, each section of channel steel is used to store at least two rolls of material, and the shelving is connected to the warehouse control system.

[0011] When placing goods, the vision inspection unit transmits the diameter and width data of the rolled material to the warehouse control system. The warehouse control system then transmits the diameter and width data to the pallet stacker, adjusts the fork spacing of the clamping mechanism so that the clamping mechanism can hold the rolled material. The warehouse control system obtains the center coordinate data of the location of the rolled material on the shelf and transmits it to the pallet stacker. The pallet stacker executes the instructions to move the rolled material to the designated location on the shelf.

[0012] Furthermore, it is also equipped with a passive wire feeding module, which allows for manual passive wire feeding. The passive wire feeding module includes two sets of rotating mechanisms, one at the top and one at the bottom. The upper rotating mechanism is suitable for small-diameter roll materials, while the lower clamping rotating mechanism is suitable for large-diameter roll materials. The rotating mechanism consists of two hexagonal rotating disks.

[0013] Furthermore, the rotating mechanism includes a slewing bearing, which includes an inner ring disposed on a forklift device on the loading platform, an outer ring fixedly connected to the loading platform, and a rolling element located between the inner and outer rings. The forklift device is fixedly installed below the loading platform, and the slewing bearing drives the loading 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, and the two clamping arms are provided with two corresponding racks. The gears on the back plate mesh with the two racks respectively, and the linear sliders sleeved on the guide rails are connected to the clamping arms.

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

[0016] Furthermore, the visual inspection mechanism includes two pairs of binocular stereo vision cameras, and an edge computing box system that communicates with the binocular stereo vision cameras. The edge computing box system communicates with the warehouse control system. A pair of binocular stereo vision cameras are installed at a high and a low position on both sides of the inspection frame. The two binocular stereo vision cameras at the high position are responsible for measuring and positioning larger rolled materials, while the two binocular stereo vision cameras at the low position are responsible for measuring and positioning smaller rolled materials. The edge computing box system is equipped with a V-POS bobbin inspection visual inspection system.

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

[0018] On the other hand, a method for handling rolled materials is provided, applied in the warehouse control system of the aforementioned rolled material handling system. The rolled material handling method includes a rolled material unloading method and a rolled material retrieval method. The rolled material unloading method is as follows:

[0019] Step S1: In response to receiving the delivery command, execute the method for generating the size of the roll material. The method for generating the size of the roll material includes:

[0020] Send data acquisition instructions to the vision inspection agency so that the vision inspection agency can identify the width and diameter data of the rolled material;

[0021] Step S2: Send an initialization command to the pallet stacker to enable the pallet stacker to perform initialization operations. The pallet stacker adjusts the fork spacing of the clamping mechanism to clamp the rolled material.

[0022] Step S3: Send a roll material placement instruction to the pallet stacker, and send the center coordinate data of the location where the roll material is placed on the shelf to the pallet stacker so that the pallet stacker can execute the command and place the roll material at the designated location on the shelf;

[0023] The method for picking up rolled materials includes: the warehouse control system responds to receiving a picking command; the warehouse control system obtains the center coordinate information of the location of the rolled material on the shelf and sends it to the pallet stacker to send a picking instruction; the pallet stacker executes the instruction and moves to the designated position on the shelf to pick up the rolled material.

[0024] The algorithms for measuring and positioning rolled materials in visual inspection agencies include:

[0025] During initialization, a detection reference plane is established using the plane of the tray, with the outer edge as the reference reference line, and a detection space coordinate system is established based on this.

[0026] Two binocular stereo vision cameras, positioned at a high or low position, acquire point clouds at the axial end of the tray;

[0027] Calculate the smallest external 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 from the front edge of the cuboid and the distance from the left edge of the cuboid are used to position the rolled material.

[0030] The two binocular stereo vision cameras at the top are used to measure and position larger rolls of material, while the two cameras at the bottom are used to measure and position smaller rolls of material.

[0031] Step S3 also includes;

[0032] The warehouse control system sends the center coordinates of the location where the rolled material is 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 location where the rolled material is 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 material on the clamping mechanism to the designated location 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 rail has been changed from a double rail to a single rail, reducing the difficulty of installation; the clamping mechanism can pick up and place rolled materials of different widths and diameters.

[0035] 2. Visual inspection mechanisms are installed on the inspection frames on both sides of the conveyor for measuring and positioning rolled materials. These mechanisms are characterized by high precision, high environmental tolerance, ease of use, high reliability, and low cost.

[0036] 3. The warehouse control system is connected to the pallet stacker, racks, and vision inspection machine for communication, and transmits data through OPC UA communication to improve data transmission efficiency and accuracy.

[0037] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form 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 three-dimensional structural diagram of a roll material handling system provided for a preferred embodiment;

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

[0041] Figure 3 for Figure 2 A sectional view of DD in the diagram;

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

[0043] Figure 5 This is a schematic diagram of a pallet stacker crane.

[0044] Figure 6This is a top view of a pallet stacker crane.

[0045] Figure 7 A schematic diagram of rolled materials for a vision inspection agency;

[0046] Figure 8 This is a schematic diagram of the algorithm used in a visual inspection agency.

[0047] Figure 9 Toptu, a visual inspection agency;

[0048] Explanation of reference numerals in the attached figures:

[0049] 1. Shelving; 2. Passive cable laying module; 3. Detection frame; 4. Pallet stacker; 4-1. Ground rail; 4-2. Loading platform; 4-3. Onboard cabinet; 4-4. Column; 4-5. Slewing bearing; 4-6. Drum; 4-7. Steel rope; 4-8. Lifting motor; 4-9. Reducer; 4-10. Clamping arm; 4-11. Linear slider; 4-12. Ladder; 4-13. Forklift device; 4-14. First gear; 4-15. Ball bearing; 4-16. Second gear; 4-17. Back plate; 5. Conveyor; 6. Material pallet; 7. Aisle centerline; 8. Ground rail centerline; 9. Cable reel; 10. Factory column; 11. Binocular stereo vision camera. Detailed Implementation

[0050] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0051] This application provides a coil material handling system and method. Taking coiled cable material as an example, the system achieves high-precision positioning and measurement through communication between the warehouse control system, pallet stacker, conveyor, passive cable feeding module and vision inspection mechanism, thereby improving the space utilization rate of the coil material automated warehouse, realizing dynamic cargo management, and enhancing the flexibility and automation of coil material storage management.

[0052] As attached Figure 1 - Appendix Figure 9As shown, in this embodiment, taking cable reels as an example, a reel material handling system is provided, including a warehouse control system (WCS), several conveyors 5, pallet stackers 4, and shelves 1; detection frames 3 located on both sides of the conveyors 5, and vision inspection mechanisms for measuring and positioning the reels are provided on the detection frames 3. The vision inspection mechanisms are used for measuring and positioning the reels. The warehouse control system (WCS) is communicatively connected to the vision inspection mechanisms, pallet stackers 4, shelves 1, and conveyors 5.

[0053] The conveyor 5 is located at the lower end of the shelf 1, and a material tray 6 is installed on it. The cable reel 9 is placed on the material tray 6. Detection frames 3 are provided on both sides of the material tray 6. The center line of the detection frames 3 is located on the center line of the conveyor 5. A vision inspection mechanism is provided on the detection frames 3.

[0054] Shelf 1 has several sections of channel steel, each section of which is used to store at least two cable reels 9. Unlike existing shelving designs, this one does not have supporting beams; it uses a single channel steel section, with at least two cable reels 9 placed on each section, thus reducing costs and labor installation costs. Each channel steel can hold two large-diameter cable reels or four small-diameter cable reels 9, such as... Figure 4 As shown, when the clamping mechanism moves the cable reel to the shelf, there is no need to rotate the cable reel; it can be placed directly on the channel steel.

[0055] When placing goods, the vision inspection mechanism transmits the diameter and width data of the cable reel 9 to the warehouse control system. The warehouse control system transmits the diameter and width data of the cable reel 9 to the pallet stacker 4 and adjusts the fork spacing of the clamping mechanism so that the clamping mechanism can clamp the cable reel 9. The warehouse control system obtains the center coordinate data of the position of the cable reel 9 on the shelf 1 and transmits it to the pallet stacker 4. The pallet stacker 4 executes the instruction to move the cable reel 9 to the designated position on the shelf 1.

[0056] The Warehouse Control System (WCS) uses OPC UA communication, which has the following advantages:

[0057] Improved data transmission efficiency and accuracy: The OPC UA server uses standardized protocols and data formats, enabling fast and efficient data transmission while ensuring data accuracy.

[0058] Reduce data loss rate: OPC UA servers are characterized by high reliability and stability, which can prevent data loss due to network failures and other reasons.

[0059] Achieving data integration and interoperability: The OPC UA server supports multiple industrial protocols and data formats, enabling data integration and interoperability, and providing more comprehensive and accurate data support for factory management and decision-making.

[0060] Improving the level of automation in the production process: OPC UA server enables seamless connection and information exchange between production equipment and systems, thereby achieving automated control and optimization, and improving the level of automation and production efficiency in the production process.

[0061] Enhanced system security and reliability: The OPC UA server supports multiple 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 transport cables to designated locations on the shelves or to move cables from the shelves. The pallet stacker 4 is located in the aisle between two shelves 1. The aisle floor is equipped with a single ground rail 4-1. The bottom of the pallet stacker 4 is equipped with wheels that match the ground rail 4-1, allowing it to move on the ground rail 4-1. It also has a column 4-4. A loading platform 4-2 is set on one side of the column 4-4. The loading platform 4-2 is equipped with a clamping mechanism and a rotating mechanism. A machine cabinet 4-3 and a lifting mechanism are set on the other side of the column 4-4. The loading platform 4-2 and the machine cabinet 4-3 are each equipped with an independent control unit PLC. The loading platform control unit and the machine cabinet control unit are respectively connected to the warehouse control system WCS.

[0063] The column adopts a variable cross-section, which is larger at the bottom and smaller at the top, to reduce the weight of the equipment.

[0064] The tunnel floor is equipped with a single ground rail, replacing the double ground rails used in existing technology, thus reducing installation difficulty.

[0065] The rotating mechanism includes a slewing bearing 4-5, which comprises an inner ring mounted on a forklift device 4-13 on a loading platform 4-2, an outer ring fixedly connected to the loading platform 4-2, and a rolling element located between the inner and outer rings. The slewing bearing 4-5 drives the entire forklift device to rotate 180°, enabling the picking and placing of goods on both sides of the aisle. In this embodiment, the rolling element is a ball bearing.

[0066] The clamping mechanism includes a back plate 4-17 and clamping components. In this embodiment, the clamping components are clamping arms. The back plate 4-17 is provided with a guide rail, and the two clamping arms 4-10 are provided with two corresponding racks. Gears on the back plate 4-17 mesh with the two racks respectively. A linear slider 4-11 sleeved on the guide rail is connected to the clamping arms 4-10. The clamping mechanism can pick up and put in goods of different widths (W340mm~700mm) and different diameters (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 mounted 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 loading platform 4-2. The motor drives the drum 4-6 to rotate through the reducer, which in turn drives the steel rope 4-7 to rotate, thereby lifting and lowering the loading platform 4-2.

[0068] In one embodiment, a passive cable feeding module 2 is installed near the ground on the shelf 1 of a roll material handling system. The passive cable feeding is performed manually. The passive cable feeding module 2 is communicatively connected to the warehouse control system. The passive cable feeding module 2 includes two sets of rotating mechanisms: the upper rotating mechanism is suitable for small-diameter cable reels 9, and the lower clamping rotating mechanism is suitable for large-diameter cable reels 9. The rotating mechanisms consist of two hexagonal rotating disks that can rotate the reels, allowing for manual passive cable feeding according to the cable diameter required by the factory.

[0069] In one embodiment, a roll material handling system is provided with a ladder 4-12, through which workers can access components at the top for maintenance.

[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 communicates with the binocular stereo vision cameras 11. A pair of binocular stereo vision cameras 11 are installed at a high and a low position on both sides of the inspection frame 3. The two high-position binocular stereo vision cameras 11, connected to the warehouse control system, are responsible for measuring and positioning larger rolled materials. The two low-position binocular stereo vision cameras 11 are responsible for measuring and positioning smaller rolled materials. The edge computing box system includes a V-POS bobbin inspection visual inspection system. The edge computing box system uses the V-Tron platform, which provides services such as equipment management, equipment and service monitoring, a self-developed hardware acceleration algorithm library, and TCP Server. It calls AI barcode recognition and data reading algorithms, as well as GV-ICP algorithms; develops planar detection algorithms, point cloud processing and measurement, and TCP communication protocol functions.

[0071] like Figure 9 As shown, the edge computing box system communicates with the binocular stereo vision camera and is connected to the switch / router / Warehouse Control System (WCS) via a network cable. Communication is via TCP protocol, with the edge end acting as the server and the system host as the client.

[0072] On the other hand, a method for handling rolled materials is provided, applied in a warehouse control system (WCS) within the aforementioned rolled material handling system. The method includes the following steps:

[0073] A method for handling rolled materials includes a method for unloading rolled materials and a method for retrieving rolled materials. The method for unloading rolled materials is as follows:

[0074] Step S1: In response to receiving the delivery command, execute the method for generating the size of the roll material. The method for generating the size of the roll material includes:

[0075] Send data acquisition instructions to the vision inspection agency so that the vision inspection agency can identify the width and diameter data of the rolled material;

[0076] Camera brackets are installed on both sides of the detection frame 3, with a pair of binocular stereo vision cameras 11 installed at the high and low positions. The two binocular stereo vision cameras 11 at the high position are responsible for measuring and positioning larger rolled materials, while the two cameras at the low position are responsible for measuring and positioning smaller rolled materials. The diameter and width of the rolled materials are measured, and the position of the rolled materials on the tray is determined.

[0077] Specifically, based on the site conditions, the camera installation position and height are initially calculated and determined. The camera is mounted on the bracket and pre-tightened. The edge computing box IP is entered into the browser, and the tool software is opened. Pallets and goods are stacked on conveyor 5. The binocular camera is observed and confirmed through the software to fully see the highest plane of the pallets and goods. The camera is then secured, the pallets are removed, and the "Establish Reference Plane" button is clicked in the software. The system will automatically establish the reference plane.

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

[0079] S101. During initialization, a detection reference plane is established using the plane of the tray, with the outer edge as the 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 point clouds on the shaft end of the tray;

[0081] S103. Calculate the smallest external cuboid of the spatial point cloud above the detection reference plane;

[0082] S104. The width W of the smallest externally tangent 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 are used to position the rolled material.

[0084] Step S2: Send an initialization command to the pallet stacker 4 to initiate an initialization operation. The pallet stacker 4 adjusts the fork spacing of its clamping mechanism to hold the rolled materials. The specific steps are as follows:

[0085] The warehouse control system (WCS) sends the width and diameter data of the rolled material to the loading platform control unit (PLC) of the pallet stacker 4. The loading platform control unit (PLC) receives the width and diameter data 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 placement command to the pallet stacker 4, sending the center coordinates of the roll material's location on shelf 1 to the pallet stacker 4 so that the pallet stacker 4 executes the command to place the roll material at the designated location on shelf 1; the specific steps are as follows:

[0087] The warehouse control system (WCS) sends the center coordinates of the position of the rolled material placed on shelf 1 to the control unit PLC of the pallet stacker 4's loading platform 4-2 and the control unit PLC of the onboard cabinet 4-3. After receiving the center coordinate information of the position of the rolled material placed on shelf 1, the control unit PLC of the pallet stacker 4's loading platform 4-2 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 material on the clamping mechanism to the designated position on shelf 1.

[0088] The following are the methods for picking up rolled materials:

[0089] The warehouse control system (WCS) responds to receiving the picking 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 of the rolled material stored on the shelf 1 and sends it to the pallet stacker 4 to send the picking command. The pallet stacker 4 executes the command and moves the adjusting fork spacing and height of the adjusting clamping mechanism to the designated position on the shelf 1 to pick up the rolled material.

[0090] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention described herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not invented herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the appended claims.

[0091] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A roll material handling system, characterized by: The warehouse control system, a plurality of conveyors (5), a pallet stacker (4) and a shelf (1); The pallet stacker (4) is located on the aisle between two shelves (1), and the bottom surface is provided with walking wheels matched with a single ground rail (4-1) installed on the ground of the aisle, which can move on the ground rail (4-1), and is also provided with a stand (4-4), one side of the stand (4-4) is provided with a loading platform (4-2), the loading platform (4-2) is provided with a clamping mechanism and a rotating mechanism, the other side of the stand (4-4) is provided with an on-board cabinet (4-3) and a lifting mechanism, the loading platform (4-2) and the on-board cabinet (4-3) are respectively provided with independent control units, and the control units are respectively connected with the warehouse control system in communication; The conveyor (5) is located at the lower end of the shelf (1), and is connected with the warehouse control system in communication, and is provided with a material pallet (6) and a detection frame (3) on both sides, and the center line of the detection frame (3) is located on the center line of the conveyor (5), and the detection frame (3) is provided with a visual detection mechanism, which is connected with the warehouse control system in communication, and is used for measuring and positioning the roll-shaped material, and the measurement data of the roll-shaped material is the diameter and width data of the roll-shaped material; The visual detection mechanism includes two pairs of binocular stereo vision cameras (11), and an edge computing box system connected with the binocular stereo vision cameras (11), and the edge computing box system is connected with the warehouse control system in communication, and a pair of binocular stereo vision cameras (11) is arranged at high and low positions on both sides of the detection frame (3), the two binocular stereo vision cameras (11) at high position are responsible for measuring and positioning the roll-shaped material with large size, and the two binocular stereo vision cameras (11) at low position are responsible for measuring and positioning the roll-shaped material with small size; The edge computing box system is configured to execute a roll-shaped material measurement algorithm, which includes establishing a detection reference plane with the plane of the material pallet (6), obtaining the point cloud of the shaft end of the roll-shaped material on the material pallet (6), calculating the smallest circumscribed cuboid of the point cloud above the detection reference plane, and taking the width of the smallest circumscribed cuboid as the diameter of the roll-shaped material and the length of the smallest circumscribed cuboid as the width of the roll-shaped material; The shelf (1) is provided with a plurality of channel steels, each channel steel is used for storing at least two roll-shaped materials, and the shelf (1) is connected with the warehouse control system in communication; When storing goods, the visual detection mechanism transmits the diameter and width data of the roll-shaped material to the warehouse control system, the warehouse control system transmits the diameter and width data of the roll-shaped material to the pallet stacker (4), adjusts the fork spacing of the clamping mechanism to enable the clamping mechanism to clamp the roll-shaped material, the warehouse control system obtains the center coordinate data of the position of the roll-shaped material stored on the shelf (1) and transmits it to the pallet stacker (4), and the pallet stacker (4) executes the instruction to carry the roll-shaped material to the designated position on the shelf (1).

2. The roll material handling system of claim 1, wherein, It is also provided with a passive pay-off module (2) for manual passive pay-off, the passive pay-off module (2) includes two sets of rotating mechanisms, the rotating mechanism at the upper end is suitable for small-diameter roll-shaped materials, the clamping rotating mechanism at the lower end is suitable for large-diameter roll-shaped materials, and the rotating mechanism is two hexagonal rotating discs.

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

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

5. The roll material handling system of claim 1 or 2, wherein, The lifting mechanism includes a lifting motor (4-8), a speed reducer (4-9), a winding drum (4-6) and a steel rope (4-7) arranged on the winding drum (4-6), one end of the steel rope (4-7) is connected with the winding drum (4-6), the other end is connected with the loading platform (4-2), the motor drives the winding drum (4-6) to rotate through the speed reducer, drives the steel rope (4-7) to rotate, and drives the loading platform (4-2) to lift.

6. The roll material handling system of claim 1 or 2, wherein, The edge computing box system is provided with a V-POS spool detection visual detection system.

7. The roll material handling system of claim 1 or 2, wherein, The warehouse control system adopts OPC UA communication to transmit data.

8. A roll-shaped material carrying method applied to the warehouse control system in the roll-shaped material carrying system of any one of claims 1-7, characterized in that, The roll-shaped material carrying method includes a roll-shaped material loading method and a roll-shaped material unloading method, and the roll-shaped material loading method is as follows: Step S1, in response to receiving a loading command, a roll-shaped material size generation method is performed, and the roll-shaped material size generation method includes: sending a data acquisition instruction to the visual detection mechanism to enable the visual detection mechanism to identify the width and diameter data of the roll-shaped material; the roll-shaped material measurement and positioning algorithm of the visual detection mechanism includes: when initialized, a detection reference plane is established with the plane of the material tray (6), the outer edge is a reference reference line, and a detection space coordinate system is established therefrom; two high or low binocular stereo vision cameras (11) obtain point clouds of the shaft end on the material tray (6); the minimum circumscribed cuboid of the space point cloud above the detection reference plane is calculated; the width of the minimum circumscribed cuboid is the diameter of the roll-shaped material, and the length of the minimum circumscribed cuboid is the width of the roll-shaped material; the distance of the cuboid from the front edge and the distance of the cuboid from the left edge complete the positioning of the roll-shaped material; wherein the two high binocular stereo vision cameras (11) are responsible for the measurement and positioning of the larger size roll-shaped material, and the two low binocular stereo vision cameras (11) are responsible for the measurement and positioning of the smaller size roll-shaped material. Step S2: send initialization instruction to tray stacker (4) to make tray stacker (4) perform initialization operation, and tray stacker (4) adjusts the fork spacing of clamping mechanism to clamp the roll material; Step S3: send roll material storage instruction to tray stacker (4), send the center coordinate data of the position of the roll material to the tray stacker (4) to make the tray stacker (4) execute the command and place the roll material on the designated position of the shelf (1); The roll material storage method comprises: the warehouse control system responds to the received storage command, the warehouse control system acquires the center coordinate information of the position of the roll material stored on the shelf (1), and sends the storage instruction to the tray stacker (4); the tray stacker (4) executes the instruction and moves to the designated position on the shelf (1) to clamp the roll material.

9. The roll material handling method according to claim 8, characterized by, Step S3 also includes; The warehouse control system sends the center coordinate of the position of the roll material on the shelf (1) to the control unit of the loading table and the control unit of the on-board cabinet of the tray stacker (4), and after the control unit of the loading table and the control unit of the on-board cabinet of the tray stacker (4) receive the center coordinate information of the position of the roll material on the shelf (1), adjust the height through the lifting mechanism, move through the ground rail (4-1), and carry the roll material on the clamping mechanism to the designated position on the shelf (1).

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