Intelligent logistics tray allocation method for ocean engineering materials

Abstract

The invention discloses a logistics tray intelligent allocation method for ocean engineering materials, and the method comprises the steps: in a tray warehousing storage process, a control center can obtain the humidity, pressure and load data of a tray according to a signal sent by a processor in the tray, and judges the use state of the tray and the storage area of the tray. In addition, the control center can intelligently plan a tray warehouse-in and warehouse-out path according to different required storage warehouses, so that the tray warehouse-in and warehouse-out path has high safety and good passing efficiency, and the intelligent transport vehicle is controlled to complete warehouse-in and warehouse-out transport of the trays. By adopting the method, tray materials can be automatically sorted and classified, potential safety hazards are eliminated in time, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to a pallet allocation method, and in particular to an intelligent allocation method for logistics pallets of marine engineering materials. Background Art

[0002] The existing material allocation for marine engineering is inefficient. During the transportation and storage process, manual retrieval and handling are required, which consumes a lot of manpower costs.

[0003] In addition, during the operation of the pallets used to store materials, due to the high overall humidity in the offshore environment and the fact that most pallets are made of wood, as the number of pallets increases and the number of years the pallets are used increases, a large number of pallets will be corroded and damaged. The overall condition of the pallets is difficult to guarantee, creating safety hazards. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a method for intelligent allocation of logistics pallets for marine engineering materials that can monitor pallet data in real time and rationally plan material storage.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] The present invention provides a method for intelligently distributing logistics pallets of marine engineering materials, comprising the following steps:

[0007] Step 1: Establish a plane rectangular coordinate system, measure all layout information of the warehouse for storing marine engineering materials in the plane rectangular coordinate system and the position information of the starting point and the end point of the transportation path in the plane rectangular coordinate system, and then input all the layout information and the starting point and the end point information of the transportation path into the database of the control center respectively;

[0008] Step 2: The path planning module of the control center retrieves all the layout information in the database in step 1 and the starting and ending position information of the transportation path, and plans the transportation path of the center point of the intelligent remote-controlled transport vehicle so that the intelligent remote-controlled transport vehicle does not collide during the transportation process and completes the transportation in the shortest time;

[0009] Step 3: The control center selects the final transportation route based on whether the pallet is in a normal state and the load condition signal, and then outputs the control signal to the intelligent remote control transport vehicle. The intelligent remote control transport vehicle puts the logistics pallet into the warehouse according to the received control signal. The intelligent remote control transport vehicle is equipped with a positioning system, which can locate the position in the warehouse in real time, and can receive instructions through wireless signals to realize the movement and loading functions, including the following steps:

[0010] Step 4: According to usage requirements, search the control center database for the marine engineering materials that need to be stored and accessed, determine the pallet number and storage and access area, select the planned path, and complete the pallet outbound logistics.

[0011] The beneficial effects of the present invention are: real-time monitoring of the use status of the pallets, automatic sorting and classification of pallet materials throughout the entire process, timely elimination of safety hazards, and reduction of labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of an application of an intelligent allocation method for logistics pallets of marine engineering materials;

[0013] Figure 2 It is a route planning diagram for the logistics pallets entering and leaving the warehouse according to the present invention;

[0014] Figure 3 This is a flow chart of the intelligent allocation method for logistics pallets of the present invention;

[0015] Figure 4 This is a structural diagram of the intelligent logistics pallet of the present invention. DETAILED DESCRIPTION

[0016] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0017] As shown in the accompanying drawings, a method for intelligently distributing logistics pallets of marine engineering materials of the present invention comprises the following steps:

[0018] Step 1: Establish a plane rectangular coordinate system, measure all layout information of the warehouse for storing marine engineering materials in the plane rectangular coordinate system and the position information of the starting point and the end point of the transportation path in the plane rectangular coordinate system, and then input all the layout information and the starting point and the end point information of the transportation path into the database of the control center 1 respectively;

[0019] The process of measuring the overall layout information of a warehouse for storing marine engineering materials may include the following steps:

[0020] Step 101, using a corner of the warehouse as the coordinate origin, establishing a plane rectangular coordinate system, and obtaining the overall size, shape and location information of the warehouse through the global satellite positioning system;

[0021] Step 102, measuring the boundary size and area location of the warehouse and measuring the size, shape, and location information of each area inside the warehouse. The internal areas of the warehouse that need to be measured include: logistics pallet storage area, warehouse entrance, warehouse exit, and collision objects in the warehouse.

[0022] like Figure 1As shown, the warehouse entrance and warehouse exit are spaced apart on the left side of the warehouse, an entrance conveyor belt 5 is installed at the entrance, and an exit conveyor belt 2 is installed at the exit. The logistics pallet storage area includes a discarded pallet storage area 6 arranged at the front side of the warehouse, and a normal pallet storage area 7 is arranged on the right side of the warehouse. The normal pallet storage area may include an empty area A, a half-loaded area, and a fully loaded area C arranged in sequence from front to back on the right side of the warehouse. According to the different material loading amounts of the half-loaded pallets, the half-loaded areas are divided into the first half-loaded area B1, the second half-loaded area B2, the third half-loaded area B3 and other areas.

[0023] Step 103, the method for measuring the starting point and end point information of the transportation path is as follows:

[0024] Measuring the coordinate position information of a starting point of a group of transport paths and an end point of a group of transport paths in the plane rectangular coordinate system; wherein:

[0025] The starting point of the transport path is selected to be located at the exit of the entrance conveyor belt and any point where the intelligent remote-controlled transport vehicle 3 can receive the pallet 4, or at the entrance of the exit conveyor belt and any point where the intelligent remote-controlled transport vehicle can output the pallet.

[0026] The end point of the transport route is selected to be located at any point close to the waste pallet storage area and enables the intelligent remote-controlled transport vehicle to directly unload or load the pallet, or the intelligent remote-controlled transport vehicle can directly unload or load the pallet at any point in the various areas that constitute the normal pallet storage area, that is, the intelligent remote-controlled transport vehicle can directly unload or load the pallet at any point in the fully loaded area, half-loaded area and empty area.

[0027] Step 2: The path planning module of the control center retrieves all the layout information in the database in step 1 as well as the starting and ending position information of the transportation path, and plans the transportation path of the center point of the intelligent remote-controlled transport vehicle, so that the intelligent remote-controlled transport vehicle will not collide during the transportation process and complete the transportation in the shortest time, with high traffic efficiency.

[0028] As an embodiment of the present invention, the process of planning the transportation path of the intelligent remote-controlled transport vehicle by the path planning module of the control center includes the following steps:

[0029] Step 201, according to the shape of each collision object and logistics pallet storage area in the warehouse, a collision boundary 10 is defined around each collision object and logistics pallet storage area in the warehouse to form the size, shape and position information of the modified collision object and logistics pallet storage area and record it as a collision area 11. Figure 2 As shown, the size of the collision boundary is at least 1.2 times the radius of the intelligent remote-controlled transport vehicle, and the shape and position information remain unchanged.

[0030] In this step, the size, shape and position information of the collision object and the logistics pallet storage area are corrected to prevent the intelligent remote-controlled transport vehicle from colliding with the collision object during movement.

[0031] Step 202, obtain the boundary of the warehouse through all the layout information (size and shape) obtained in step 1; then import the collision area of ​​step 201 into the plane rectangular coordinate system established in step 1, and record the area inside the warehouse outside the collision area as the movable area of ​​the intelligent remote-controlled transport vehicle.

[0032] Step 203, planning the final transport path 9 of the intelligent remote control transport vehicle, the specific steps are:

[0033] Step 2031; the path planning module calls any starting point of the transport path in step 103 as the starting point 12 of the path to be planned, calls any end point of the transport path in step 103 as the end point 8 of the path to be planned, and then connects the starting point and the end point of the path with a straight line to form an initial transport path.

[0034] Step 2032: Determine whether the initial transport path is completely within the movable area of ​​the intelligent remote control transport vehicle 3. If so, the initial transport path is the final transport path; otherwise, replace the initial transport path that passes through the collision boundary with the collision area boundary of the part, such as Figure 2 As described above, by combining the straight line that does not pass through the collision boundary portion into the final transportation path, it can be ensured that the intelligent remote-controlled transportation vehicle does not collide during the driving process.

[0035] Step 2033, select different path starting points and path end points in turn, and execute steps 2031-2033 again until all final transportation paths are planned, which facilitates path selection during subsequent intelligent logistics pallet management.

[0036] Step 3: The control center selects the final transportation route based on whether the pallet is in a normal state and the load condition signal, and then outputs the control signal to the intelligent remote control transport vehicle. The intelligent remote control transport vehicle puts the logistics pallet into the warehouse according to the received control signal. The intelligent remote control transport vehicle is equipped with a positioning system, which can locate the position in the warehouse in real time, and can receive instructions through wireless signals to realize the movement and loading functions, including the following steps:

[0037] Step 301, place the pallet on the entrance conveyor belt, install a pressure sensor and a weight sensor on the top surface of the pallet, and install a water immersion sensor on the bottom surface of the pallet. A pallet processor and a Bluetooth signal transmitter are installed on the pallet, and the processor receives the pressure data output by the pressure sensor, the humidity data output by the water immersion sensor, and the load data output by the weight sensor, and then sends all the data and the pallet number to the database of the control center.

[0038] The pressure sensor can be a piezoresistive or piezoelectric sensor, which can collect the surface pressure of the pallet in real time during use to prevent the pallet from being overloaded and damaged. The water immersion sensor can be a contact water immersion sensor that can monitor whether the pallet is flooded in real time to prevent the pallet from being damaged by excessive humidity. The weight sensor can detect the weight of the material carried to facilitate classification and storage in the subsequent process.

[0039] Step 302: The data storage module of the control center receives the pallet surface pressure and overall humidity signals output by the pallet processor. If the pallet surface pressure exceeds the pallet material limit or the overall humidity exceeds the humidity safety threshold, it is determined that the pallet cannot be used any further, and a transportation path whose end point is the discarded pallet storage area is selected. Otherwise, the pallet is determined to be usable any further, and the pallet is classified into a normal pallet storage area. Then, based on the pallet load information output by the weight sensor, an empty area, a half-loaded area, or a fully loaded area of ​​a normal pallet storage area is selected as the end point of the path, and the remaining load mass of the pallet is calculated. Finally, the control center selects the corresponding transportation path based on the path starting point and the path end point, and converts it into a control signal for the intelligent transport vehicle.

[0040] The calculation process of the remaining load mass of the pallet is as follows:

[0041] The control center calculates the remaining load mass of the normal pallet based on the received pallet processor output load signal, and stores the calculated remaining load mass in the control center database for easy call when the smart logistics pallet is out of the warehouse, including:

[0042] For empty pallets: F = F e , where F is the remaining load mass of the pallet, F e Rated load mass of the pallet;

[0043] For a half-loaded pallet: F = F e -F N , where F is the remaining load mass of the pallet, F e F is the rated load mass of the pallet. N is the current load mass of the pallet;

[0044] For a fully loaded pallet: F=0, where F is the remaining load mass of the pallet.

[0045] Step 303, when the pallet falls onto the intelligent remote-controlled transport vehicle, the control center outputs a control signal to control the intelligent remote-controlled transport vehicle to travel along the transport path planned in step 203. During the travel of the intelligent remote-controlled transport vehicle, the positioning system of the intelligent remote-controlled transport vehicle feeds back the position information of the intelligent remote-controlled transport vehicle to the control center in real time, and compares it with the planned transport path as follows. If the judgment formula is met, the intelligent transport vehicle has not deviated from the planned path, otherwise the intelligent remote-controlled transport vehicle is controlled to deviate from the planned path. The control center gives a control signal based on the planned transport path and the position information of the intelligent remote-controlled transport vehicle, so that the intelligent remote-controlled transport vehicle adjusts its travel to the planned transport path, and then re-executes the judgment formula until the judgment formula is met:

[0046] (X-X0) 2 +(Y-Y0) 2 <δ 2

[0047] Among them, (X, Y) is the center position coordinate information fed back by the intelligent remote control transport vehicle, (X0, Y0) is the position information of the point on the planned transport path, and the δ system allows position error, which is generally not more than 0.2 times the radius of the intelligent remote control transport vehicle.

[0048] Step 304: When the intelligent transport vehicle determines that it has arrived at the terminal position, the intelligent remote-controlled transport vehicle stops moving and places the pallet on the intelligent transport vehicle in the corresponding storage area.

[0049] Step 305, after the storage is completed, the control center outputs a control signal to the intelligent transport vehicle, and the intelligent transport vehicle returns along the original route.

[0050] Step 306, repeating steps 301 to 306 until all pallets that need to be stored are stored in the pallet warehouse.

[0051] Step 4: According to the usage requirements, search the control center database for the marine engineering materials that need to be stored and accessed, determine the pallet number and storage area, select the planned path, and complete the pallet outbound logistics. The process is as follows:

[0052] Step 401, according to the data information of the current load mass of the pallet and the remaining load mass of the pallet stored in the control center database, the number of the pallet to be taken out and the storage area in the warehouse are locked. The starting point of the path is selected as the entrance of the exit conveyor belt (the intelligent transport vehicle is on standby at the entrance of the exit conveyor belt), and the end point of the path is the path of the corresponding pallet storage area. Then, the corresponding transportation path is selected according to the starting point and the end point of the path, and it is converted into a control signal of the intelligent transport vehicle. The control center outputs a control signal to control the intelligent remote-controlled transport vehicle to travel along the transportation path.

[0053] Step 402: During the operation of the intelligent transport vehicle, the control center makes a determination according to the method of step 303 until the intelligent transport vehicle reaches the end of the transport path.

[0054] Step 403, when the intelligent transport trolley determines that it has arrived at the terminal position, the intelligent transport trolley stops moving. A forklift or other handling tool is provided in the pallet storage area, and the pallet to be taken out can be placed on the intelligent transport trolley.

[0055] Step 404, after placement is completed, the intelligent transport vehicle returns to the entrance of the exit conveyor belt along the original route.

[0056] Step 405, then repeat steps 401 to 404 until all required trays are taken out.

Claims

1. A method for intelligently distributing logistics pallets for marine engineering materials, characterized in that The following steps are involved: Step 1: Establish a plane rectangular coordinate system, measure all layout information of the warehouse for storing marine engineering materials in the plane rectangular coordinate system and the position information of the starting point and the end point of the transportation path in the plane rectangular coordinate system, and then input all the layout information and the starting point and the end point information of the transportation path into the database of the control center respectively; Step 2: The path planning module of the control center retrieves all the layout information in the database in step 1 and the starting and ending position information of the transportation path, and plans the transportation path of the center point of the intelligent remote-controlled transport vehicle so that the intelligent remote-controlled transport vehicle does not collide during the transportation process and completes the transportation in the shortest time; Step 3: The control center selects the final transportation route based on whether the pallet is in a normal state and the load condition signal, and then outputs the control signal to the intelligent remote control transport vehicle. The intelligent remote control transport vehicle puts the logistics pallet into the warehouse according to the received control signal. The intelligent remote control transport vehicle is equipped with a positioning system, which can locate the position in the warehouse in real time, and can receive instructions through wireless signals to realize the movement and loading functions, including the following steps: Step 4: According to usage requirements, search the control center database for the marine engineering materials that need to be stored and accessed, determine the pallet number and storage and access area, select the planned path, and complete the pallet outbound logistics.

2. The method for intelligently distributing logistics pallets of marine engineering materials according to claim 1 is characterized by: The process of measuring the entire layout information of a warehouse for storing marine engineering materials comprises the following steps: Step 101, using a corner of the warehouse as the coordinate origin, establishing a plane rectangular coordinate system, and obtaining the overall size, shape and location information of the warehouse through the global satellite positioning system; Step 102, measuring the boundary size and area location of the warehouse and measuring the size, shape, and location information of each area inside the warehouse. The internal areas of the warehouse to be measured include: logistics pallet storage area, warehouse entrance, warehouse exit, and collision objects in the warehouse; The warehouse entrance and warehouse exit are spaced apart front and back on the left side of the warehouse, an entrance conveyor belt is installed at the entrance, and an exit conveyor belt is arranged at the exit. The logistics pallet storage area includes a discarded pallet storage area arranged at the front side of the warehouse, and a normal pallet storage area is arranged on the right side of the warehouse. The normal pallet storage area includes an empty area, a half-loaded area and a full-loaded area spaced apart from front to back on the right side of the warehouse. The half-loaded area is divided into a first half-loaded area, a second half-loaded area and a third half-loaded area according to the different material loading amounts of the half-loaded pallets; Step 103, the method for measuring the starting point and end point information of the transportation path is as follows: Measuring the coordinate position information of a starting point of a group of transport paths and an end point of a group of transport paths in the plane rectangular coordinate system; wherein: The starting point of the transport path is selected to be located at any point at the exit of the entrance conveyor belt and where the intelligent remote-controlled transport vehicle can receive the pallet, or at any point at the entrance of the exit conveyor belt and where the intelligent remote-controlled transport vehicle can output the pallet; The end point of the transport route is selected to be located at any point close to the waste pallet storage area and enables the intelligent remote-controlled transport vehicle to directly unload or load the pallet, or the intelligent remote-controlled transport vehicle can directly unload or load the pallet at any point in the various areas that constitute the normal pallet storage area, that is, the intelligent remote-controlled transport vehicle can directly unload or load the pallet at any point in the fully loaded area, half-loaded area and empty area.

3. The method for intelligently distributing logistics pallets of marine engineering materials according to claim 1 or 2, characterized in that: The process of planning the transport path of the intelligent remote-controlled transport vehicle by the path planning module of the control center includes the following steps: Step 201, according to the shape of each collision object and logistics pallet storage area in the warehouse, a collision boundary is defined around each collision object and logistics pallet storage area in the warehouse to form a modified size, shape and position information of the collision object and logistics pallet storage area and record it as a collision area, the size of the collision boundary is at least 1.2 times the radius of the intelligent remote control transport vehicle, and the shape and position information remain unchanged; Step 202, obtaining the boundary of the warehouse through all the layout information obtained in step 1; then importing the collision area in step 201 into the plane rectangular coordinate system established in step 1, and recording the area in the warehouse outside the collision area as the movable area of ​​the intelligent remote control transport vehicle; Step 203, planning the final transportation path of the intelligent remote control transport vehicle, the specific steps are: Step 2031: The path planning module retrieves any starting point of the transport path in step 103 as the starting point 12 of the path to be planned, retrieves any end point of the transport path in step 103 as the end point of the path to be planned, and then connects the starting point of the path and the end point of the path with a straight line to form an initial transport path; Step 2032: Determine whether the initial transport path is entirely within the movable area of ​​the intelligent remote-controlled transport vehicle. If so, the initial transport path is the final transport path; otherwise, replace the initial transport path that passes through the collision boundary with the collision area boundary of the portion; Step 2033, select different path starting points and path end points in turn, and execute steps 2031-2033 again until all final transportation paths are planned, which facilitates path selection during subsequent intelligent logistics pallet management.

4. The method for intelligently distributing logistics pallets of marine engineering materials according to claim 2 is characterized in that: The step three specifically includes the following steps: Step 301, placing a pallet on an entrance conveyor belt, respectively installing a pressure sensor and a weight sensor on the top surface of the pallet, and installing a water immersion sensor on the bottom surface of the pallet; a pallet processor and a Bluetooth signal transmitter are installed on the pallet, and the processor receives pressure data output by the pressure sensor, humidity data output by the water immersion sensor, and load data output by the weight sensor, and then sends all the data and the pallet number to a database of a control center; Step 302: The data storage module of the control center receives the pallet surface pressure and overall humidity signals output by the pallet processor. If the pallet surface pressure exceeds the pallet material limit or the overall humidity exceeds the humidity safety threshold, it is determined that the pallet cannot be used any more, and a transportation path with the end point of the path being the discarded pallet storage area is selected; otherwise, the pallet is determined to be usable any more, and the pallet is classified into a normal pallet storage area; then, according to the pallet load information output by the weight sensor, an empty area, a half-loaded area, or a fully loaded area of ​​the normal pallet storage area is selected as the end point of the path, and the remaining load mass of the pallet is calculated; finally, the control center selects the corresponding transportation path according to the path starting point and the path end point, and converts it into a control signal of the intelligent transport vehicle; The calculation process of the remaining load mass of the pallet is as follows: The control center calculates the remaining load mass of the normal pallet based on the received pallet processor output load signal, and stores the calculated remaining load mass in the control center database for easy call when the smart logistics pallet is out of the warehouse, including: For empty pallets: F = F e , where F is the remaining load mass of the pallet, F e Rated load mass of the pallet; For a half-loaded pallet: F = F e -F N , where F is the remaining load mass of the pallet, F e F is the rated load mass of the pallet. N is the current load mass of the pallet; For a fully loaded pallet: F = 0, where F is the remaining load mass of the pallet; Step 303, when the pallet falls onto the intelligent remote-controlled transport vehicle, the control center outputs a control signal to control the intelligent remote-controlled transport vehicle to travel along the transport path planned in step 203; during the travel of the intelligent remote-controlled transport vehicle, the positioning system of the intelligent remote-controlled transport vehicle feeds back the position information of the intelligent remote-controlled transport vehicle to the control center in real time, and compares it with the planned transport path as follows. If the judgment formula is met, the intelligent transport vehicle has not deviated from the planned path, otherwise the intelligent remote-controlled transport vehicle is controlled to deviate from the planned path. The control center gives a control signal based on the planned transport path and the position information of the intelligent remote-controlled transport vehicle, so that the intelligent remote-controlled transport vehicle adjusts its travel to the planned transport path, and then re-executes the judgment formula until the judgment formula is met: (X-X0) 2 +(Y-Y0) 2 <δ 2 Among them, (X, Y) is the center position coordinate information fed back by the intelligent remote control transport vehicle, (X0, Y0) is the position information of the point on the planned transport path, and the δ system allows position error; Step 304, when the intelligent transport vehicle determines that it has arrived at the destination, the intelligent remote-controlled transport vehicle stops moving and places the pallet on the intelligent transport vehicle in the corresponding storage area; Step 305: After the storage is completed, the control center outputs a control signal to the intelligent transport vehicle, and the intelligent transport vehicle returns along the original route; Step 306, repeating steps 301 to 306 until all pallets that need to be stored are stored in the pallet warehouse.

5. The method for intelligently distributing logistics pallets of marine engineering materials according to claim 4 is characterized in that: The specific process of step 4 is as follows: Step 401, according to the data information of the current load mass of the pallet and the remaining load mass of the pallet stored in the database of the control center, the number of the pallet to be taken out and the storage area in the warehouse are locked; the starting point of the path is selected as the entrance of the exit conveyor belt, and the end point of the path is the path corresponding to the pallet storage area, and then the corresponding transportation path is selected according to the starting point and the end point of the path, and it is converted into a control signal of the intelligent transport vehicle; the control center outputs a control signal to control the intelligent remote-controlled transport vehicle to travel according to the transportation path; Step 402, during the operation of the intelligent transport vehicle, the control center makes a determination according to the method of step 303 until the intelligent transport vehicle reaches the end of the transport path; Step 403: When the intelligent transport trolley determines that it has arrived at the terminal position, the intelligent transport trolley stops moving and places the pallet to be taken out onto the intelligent transport trolley; Step 404, after the placement is completed, the intelligent transport vehicle returns to the entrance of the exit conveyor belt along the original route; Step 405, then repeat steps 401 to 404 until all required trays are taken out.

Images