A Smart Pallet Allocation Method for Marine Engineering Materials

Abstract

This invention discloses an intelligent pallet allocation method for marine engineering materials. During the pallet storage process, the control center can obtain data on the pallet's humidity, pressure, and load based on signals from the processor inside the pallet, determining its usage status and storage area. The control center can also intelligently plan pallet entry and exit routes based on the required storage warehouse, ensuring high safety and efficient passage, and control intelligent transport vehicles to complete the pallet transportation. This method can automatically sort and classify pallet materials, promptly eliminate safety hazards, and reduce labor costs.

Description

Technical Field

[0001] This invention relates to pallet allocation methods, specifically to an intelligent pallet allocation method for marine engineering materials. Background Technology

[0002] The current material allocation efficiency for marine engineering is low. During transportation and storage, manual retrieval and handling are required, which consumes a lot of manpower.

[0003] In addition, the pallets used to store materials are subject to corrosion and damage during operations due to the high humidity of the marine environment and the fact that most pallets are made of wood. Furthermore, as the number of pallets increases and their age grows, a large number of pallets will inevitably show signs of corrosion and damage. The overall condition of the pallets is difficult to guarantee, creating safety hazards. Summary of the Invention

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

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

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

[0007] Step 1: Establish a Cartesian coordinate system, measure the layout information of the warehouse used to store marine engineering materials in the Cartesian coordinate system, as well as the location information of the start and end points of the transportation route in the Cartesian coordinate system, and then input the layout information and the start and end point information of the transportation route into the database of the control center.

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

[0009] Step 3: Based on the read pallet status and load signal, the control center selects the final transportation route and then outputs a control signal to the intelligent remote-controlled transport vehicle. The intelligent remote-controlled transport vehicle, equipped with a positioning system, can locate its position within the warehouse in real time and can receive commands wirelessly to move and load the pallet. This includes the following steps:

[0010] Step 4: Based on usage requirements, locate the marine engineering materials to be stored in the control center database, determine the pallet number and storage area, select the planned route, and complete the pallet outbound logistics.

[0011] The beneficial effects of this invention are: real-time monitoring of the usage status of the pallets, automatic sorting and classification of pallet materials throughout the process, timely elimination of safety hazards, and reduction of labor costs. Attached Figure Description

[0012] Figure 1 A schematic diagram illustrating the application of an intelligent pallet allocation method for marine engineering materials.

[0013] Figure 2 This is a logistics pallet inbound / outbound route planning diagram for the present invention;

[0014] Figure 3 This is a flowchart of the intelligent pallet allocation method of the present invention;

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

[0016] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments:

[0017] As shown in the attached figure, the present invention provides a method for intelligent allocation of logistics pallets for marine engineering materials, comprising the following steps:

[0018] Step 1: Establish a Cartesian coordinate system, measure all layout information of the warehouse used to store marine engineering materials in the Cartesian coordinate system, as well as the location information of the start and end points of the transportation route in the Cartesian coordinate system, and then input all layout information and the start and end point information of the transportation route into the database of control center 1.

[0019] The process of measuring all layout information of a warehouse used to store marine engineering materials may include the following steps:

[0020] Step 101: Establish a Cartesian coordinate system with one corner of the warehouse as the origin, and obtain the overall size, shape and location information of the warehouse through the Global Positioning System.

[0021] Step 102: Measure the boundary dimensions and location of the warehouse, as well as the dimensions, shape, and location of each area inside the warehouse. The areas inside the warehouse that need to be measured include: the logistics pallet storage area, the warehouse entrance, the warehouse exit, and collision objects inside the warehouse.

[0022] like Figure 1As shown, the warehouse entrance and 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 waste pallet storage area 6 located at the front of the warehouse, and a normal pallet storage area 7 located on the right side of the warehouse. The normal pallet storage area can include an empty area A, a half-loaded area, and a fully loaded area C, arranged sequentially from front to back on the right side of the warehouse. Based on the material load capacity of the half-loaded pallets, the half-loaded area is further divided into areas such as the first half-loaded area B1, the second half-loaded area B2, and the third half-loaded area B3.

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

[0024] Measure the coordinate positions of the starting point and the ending point of a set of transportation routes in the aforementioned Cartesian coordinate system; wherein:

[0025] The starting point of the transportation route is selected at the exit of the inlet conveyor belt, which allows the intelligent remote-controlled transport vehicle 3 to pick up any point of the pallet 4, or at the entrance of the outlet conveyor belt, which allows the intelligent remote-controlled transport vehicle to output any point of the pallet.

[0026] The destination of the transportation route is located near the waste pallet storage area and at any point that allows the intelligent remote-controlled transport vehicle to directly unload or load pallets, or the intelligent remote-controlled transport vehicle can directly unload or load pallets at any point in each area that constitutes the normal pallet storage area. That is, the intelligent remote-controlled transport vehicle can directly unload or load pallets at any point in the fully loaded area, the half-loaded area, and the empty area.

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

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

[0029] Step 201: Based on the shape of each colliding object and the logistics pallet storage area within the warehouse, delineate collision boundaries 10 around each colliding object and the logistics pallet storage area to form corrected size, shape, and location information of the colliding object and the logistics pallet storage area, and record these as collision areas 11. For example... 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 its shape and position information remain unchanged.

[0030] This step corrects the size, shape, and location information of the collision object and the logistics pallet storage area to prevent the intelligent remote-controlled transport vehicle from colliding with the collision object during movement.

[0031] Step 202: Obtain the warehouse boundary using all the layout information (size and shape) obtained in Step 1; then import the collision area from Step 201 into the Cartesian coordinate system established in Step 1, and denote the area inside the warehouse outside the collision area as the movable area of ​​the intelligent remote-controlled transport vehicle.

[0032] Step 203, plan the final transportation route 9 of the intelligent remote-controlled transport vehicle. The specific steps are as follows:

[0033] Step 2031: The path planning module retrieves any starting point of the transportation path in step 103 as the starting point 12 of the path to be planned, and retrieves any ending point of the transportation path in step 103 as the ending point 8 of the path to be planned. Then, it connects the starting point and the ending point of the path with a straight line to form the initial transportation path.

[0034] Step 2032: Determine whether the initial transportation path is entirely within the movable area of ​​the intelligent remote-controlled transport vehicle 3. If so, the initial transportation path is the final transportation path; otherwise, replace the initial transportation path that crosses the collision boundary with the boundary of that collision area, such as... Figure 2 The final transport path is formed by combining the straight lines that do not cross the collision boundary, thus ensuring that the intelligent remote-controlled transport vehicle does not collide during its journey.

[0035] Step 2033: Select different path start points and path end points in sequence, and execute steps 2031-2033 again until all final transportation paths are planned, which will facilitate path selection during subsequent intelligent logistics pallet management.

[0036] Step 3: Based on the read pallet status and load signal, the control center selects the final transportation route and then outputs a control signal to the intelligent remote-controlled transport vehicle. The intelligent remote-controlled transport vehicle, equipped with a positioning system, can locate its position within the warehouse in real time and can receive commands wirelessly to move and load the pallet. This includes the following steps:

[0037] Step 301: Place the tray on the inlet conveyor belt. A pressure sensor and a weight sensor are installed on the top surface of the tray, and a water immersion sensor is installed on the bottom surface. A tray processor and a Bluetooth signal transmitter are installed on the tray. The processor receives pressure data from the pressure sensor, humidity data from the water immersion sensor, and load data from the weight sensor, and then sends all data and the tray number to the database in the control center.

[0038] The pressure sensor, which can be either a piezoresistive or piezoelectric sensor, can collect the surface pressure of the pallet in real time during use, preventing damage from overload. The water immersion sensor, which can be a contact-type sensor, can monitor whether the pallet is submerged in water in real time, preventing damage from excessive humidity. The weight sensor can detect the weight of the materials carried, facilitating subsequent sorting and storage.

[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 continue to be used, and a transportation route with the destination as the abandoned pallet storage area is selected. Otherwise, the pallet is determined to be usable and is classified into the normal pallet storage area. Then, based on the pallet load information output by the weight sensor, the empty area, half-load area, or full-load area of ​​the normal pallet storage area is selected with the destination as the destination, and the remaining load mass of the pallet is calculated. Finally, the control center selects the corresponding transportation route based on the starting point and ending point of the route and converts it into control signals for the intelligent transport vehicle.

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

[0041] The control center calculates the remaining load capacity of a normal pallet based on the load signal received from the pallet processor, and stores the calculated remaining load capacity in the control center's database for easy retrieval during intelligent logistics pallet outbound operations.

[0042] For an empty pallet: F = F e Where F is the remaining load capacity of the pallet, F e This refers to the pallet's rated load capacity.

[0043] For a half-loaded pallet: F = F e -F N Where F is the remaining load capacity of the pallet, F e F is the rated load capacity of the pallet. N This represents the current load capacity of the pallet.

[0044] For a fully loaded pallet: F = 0, where F is the remaining load capacity 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, its positioning system feeds back the vehicle's location information to the control center in real time. This location information is compared with the planned transport path. If the comparison meets the determination formula, 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 then issues a control signal based on the planned transport path and the vehicle's location information, causing the intelligent remote-controlled transport vehicle to adjust its travel back to the planned transport path. The determination formula is then re-executed until it is met again.

[0046] (X-X0) 2 +(Y-Y0) 2 <δ 2

[0047] Where (X,Y) represents the center position coordinates fed back by the intelligent remote-controlled transport vehicle, (X0,Y0) represents the position information of the point on the planned transport path, and δ represents the position error allowed by the system, which is generally no more than 0.2 times the radius of the intelligent remote-controlled transport vehicle.

[0048] Step 304: When the intelligent transport vehicle determines that it has reached the destination, the intelligent remote-controlled transport vehicle stops moving and places the pallet on the intelligent transport vehicle into the corresponding storage area.

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

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

[0051] Step four: Based on usage requirements, locate the marine engineering materials to be stored in the control center database, determine the pallet number and storage area, select the planned route, and complete the pallet outbound logistics. The process is as follows:

[0052] Step 401: Based on the pallet's current load capacity and remaining load capacity data stored in the control center's database, locate the pallet number to be retrieved and its storage area within the warehouse. Select the path's starting point as the exit conveyor belt entrance (where the intelligent transport vehicle waits), and the path's ending point as the corresponding pallet's storage area. Then, select the corresponding transport path based on the path's starting and ending points, and convert this into control signals for the intelligent transport vehicle. The control center outputs control signals to instruct the intelligent remote-controlled transport vehicle to travel along the transport path.

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

[0054] Step 403: When the intelligent transport vehicle determines that it has reached the destination, the intelligent transport vehicle stops moving. The pallet storage area is equipped with forklifts and other handling tools, which can be used to place the pallets that need to be taken out onto the intelligent transport vehicle.

[0055] Step 404: After placement is completed, the intelligent transport vehicle returns to the exit conveyor belt entrance via the original route.

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

Claims

1. A method for intelligent allocation of logistics pallets for marine engineering materials, characterized in that... Includes the following steps: Step 1: Establish a Cartesian coordinate system, measure the layout information of the warehouse used to store marine engineering materials in the Cartesian coordinate system, as well as the location information of the start and end points of the transportation route in the Cartesian coordinate system, and then input the layout information and the start and end point information of the transportation route into the database of the control center. The process of measuring the complete layout information of the warehouse used to store marine engineering materials includes the following steps: Step 101: Establish a Cartesian coordinate system with one corner of the warehouse as the origin, and obtain the overall size, shape and location information of the warehouse through the Global Positioning System. Step 102: Measure the boundary dimensions and location of the warehouse, as well as the dimensions, shape, and location information of each area inside the warehouse. The warehouse areas to be measured include: the logistics pallet storage area, the warehouse entrance, the warehouse exit, and collision objects inside the warehouse. The warehouse entrance and warehouse exit are spaced apart on the left side of the warehouse. An entrance conveyor belt is installed at the entrance, and an exit conveyor belt is installed at the exit. The logistics pallet storage area includes a waste pallet storage area located at the front of the warehouse, and a normal pallet storage area located 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 arranged sequentially from front to back on the right side of the warehouse. According to the different material loads of the half-loaded pallets, the half-loaded area is divided into a first half-loaded area, a second half-loaded area, and a third half-loaded area. Step 2: The path planning module of the control center retrieves all layout information and the starting and ending point information of the transportation path from the database in Step 1, and plans the transportation path of the intelligent remote control vehicle center point so that the intelligent remote control vehicle does not collide during transportation and completes the transportation in the shortest time. The method for measuring the start and end point information of the transportation route is as follows: Measure the coordinate positions of the starting point and the ending point of a set of transportation routes in the aforementioned Cartesian coordinate system; wherein: The starting point of the transportation route is located at the exit of the inlet conveyor belt, allowing the intelligent remote-controlled transport vehicle to pick up the pallet at any point, or at the entrance of the outlet conveyor belt, allowing the intelligent remote-controlled transport vehicle to output the pallet at any point. The destination of the transportation route is located near the waste pallet storage area and allows the intelligent remote-controlled transport vehicle to directly unload or load pallets at any point, or the intelligent remote-controlled transport vehicle can directly unload or load pallets at any point in each area that constitutes the normal pallet storage area. That is, the intelligent remote-controlled transport vehicle can directly unload or load pallets at any point in the fully loaded area, half-loaded area, and empty area. Step 3: The control center selects the final transportation route based on the read pallet status and load signal. Then, it outputs the control signal to the intelligent remote-controlled transport vehicle. The intelligent remote-controlled transport vehicle puts the logistics pallet into the warehouse according to the received control signal. The intelligent remote-controlled transport vehicle is equipped with a positioning system that can locate the position in the warehouse in real time and can receive instructions through wireless signals to realize movement and loading functions. Step 4: Based on usage requirements, locate the marine engineering materials to be stored in the control center database, determine the pallet number and storage area, select the planned route, and complete the pallet outbound logistics.

2. The intelligent allocation method for logistics pallets of marine engineering materials according to claim 1, characterized in that: The process of the path planning module in the control center planning the transportation route of the intelligent remote-controlled transport vehicle includes the following steps: Step 201: According to the shape of each collision object and logistics pallet storage area in the warehouse, delineate collision boundaries around each collision object and logistics pallet storage area in the warehouse to form the corrected size, shape and position information of the collision object and logistics pallet storage area and record them as collision areas. 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: Obtain the warehouse boundary using all the layout information obtained in Step 1; then import the collision area from Step 201 into the Cartesian coordinate system established in Step 1, and denote the area inside the warehouse outside the collision area as the movable area of ​​the intelligent remote-controlled transport vehicle. Step 203: Plan the final transportation route of the intelligent remote-controlled transport vehicle. The specific steps are as follows: Step 2031: The path planning module retrieves any starting point of the transportation path in step 103 as the starting point of the path to be planned, and retrieves any ending point of the transportation path in step 103 as the ending point of the path to be planned. Then, it connects the starting point and the ending point of the path with a straight line to form the initial transportation 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 crosses the collision boundary with the boundary of that collision area. Step 2033: Select different path start points and path end points in sequence, and execute steps 2031-2033 again until all final transportation paths are planned, which will facilitate path selection during subsequent intelligent logistics pallet management.

3. The intelligent allocation method for logistics pallets of marine engineering materials according to claim 1, characterized in that: Step three specifically includes the following steps: Step 301: Place the pallet on the inlet conveyor belt. A pressure sensor and a weight sensor are installed on the top surface of the pallet, and a water immersion sensor is installed on the bottom surface of the pallet. A pallet processor and a Bluetooth signal transmitter are installed on the pallet. 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. 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 continue to be used, and a transportation route with the destination of the abandoned pallet storage area is selected. Otherwise, the pallet is determined to be usable and is classified into the normal pallet storage area. Then, based on the pallet load information output by the weight sensor, the empty area, half-load area, or full-load area of ​​the normal pallet storage area is selected with the destination of the route, and the remaining load mass of the pallet is calculated. Finally, the control center selects the corresponding transportation route based on the starting point and the destination of the route and converts it into control signals for the intelligent transport vehicle. The calculation process for the remaining load capacity of the pallet is as follows: The control center calculates the remaining load capacity of a normal pallet based on the load signal received from the pallet processor, and stores the calculated remaining load capacity in the control center's database for easy retrieval during intelligent logistics pallet outbound operations. For empty pallets: ,in This represents the remaining load capacity of the pallet. This refers to the pallet's rated load capacity. For half-loaded pallets: ,in This represents the remaining load capacity of the pallet. The rated load capacity of the pallet. This represents the current load capacity of the pallet. For a fully loaded pallet: ,in This refers to the remaining load capacity 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 location 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 it meets the judgment formula, 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 issues a control signal based on the planned transport path and the location information of the intelligent remote-controlled transport vehicle, causing the intelligent remote-controlled transport vehicle to adjust its travel back to the planned transport path. Then, the judgment formula is re-executed until it meets the judgment formula. ； in, The center position coordinates information fed back by the intelligent remote-controlled transport vehicle. For the location information of points on the planned transportation route, The system allows for positional errors; Step 304: When the intelligent transport vehicle determines that it has reached the destination, the intelligent remote-controlled transport vehicle stops moving and places the pallet on the intelligent transport vehicle into the corresponding storage area. Step 305: After 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: Repeat steps 301 to 306 until all pallets that need to be stored are stored in the pallet warehouse.

4. The intelligent allocation method for logistics pallets of marine engineering materials according to claim 3, characterized in that: The specific process of step four is as follows: Step 401: Based on the current load capacity and remaining load capacity of the pallets stored in the control center database, locate the number of the pallet to be retrieved and its storage area in the warehouse; select a path with the starting point at the exit conveyor belt entrance and the ending point at the corresponding pallet storage area; then select the corresponding transportation path based on the starting and ending points and convert it into control signals for the intelligent transport vehicle; the control center outputs control signals 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 judgment according to the method in step 303 until the intelligent transport vehicle reaches the end of the transport route. Step 403: When the intelligent transport vehicle determines that it has reached the destination, the intelligent transport vehicle stops moving and the pallet to be retrieved is placed on the intelligent transport vehicle. Step 404: After placement is completed, the intelligent transport vehicle returns to the exit conveyor belt entrance via the original route. Step 405, then repeat steps 401 to 404 until all the required trays are removed.

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