Intelligent unmanned gypsum warehouse-in and warehouse-out scheduling control system and method

Abstract

The invention discloses an intelligent unmanned gypsum warehouse-in and warehouse-out scheduling control system and an intelligent unmanned gypsum warehouse-in and warehouse-out scheduling control method. Comprising the following steps: determining the stockpiling state of gypsum materials in all material pits of each partition in the current gypsum warehouse so as to determine whether idle capacity exists in the gypsum warehouse or not, and suspending warehousing work when no idle capacity exists in the gypsum warehouse; when idle capacity exists in the gypsum warehouse, stockpiling pits of the gypsum materials to be warehoused are determined on the basis of the quality of the gypsum materials to be warehoused, and the warehousing travelling crane is regulated and controlled to carry the gypsum materials to be warehoused to the corresponding stockpiling pits; monitoring the volume of the gypsum material stockpiled in each material pit in real time, and changing the warehousing carrying route of the warehousing travelling crane based on the volume of the stockpiled gypsum material; the delivery gypsum material requirement is determined, a delivery carrying route of the delivery travelling crane is formed according to the first-in first-out sequence of the gypsum materials, and the delivery travelling crane conducts delivery operation according to the delivery carrying route; according to the invention, unmanned intelligent operation of feeding and discharging management and batching management of the gypsum warehouse is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned warehouse entry and exit, and in particular to an intelligent unmanned gypsum warehouse entry and exit scheduling control system and method. Background Art

[0002] The operation and management of the desulfurization gypsum storage in traditional gypsum board production plants require the configuration of corresponding personnel and forklift machinery. The degree of automation is very low and the operating cost is high. During the operation of the forklift, there are problems such as exhaust pollution, regular warranty maintenance, safety hazards, and operator negligence affecting production. It can no longer meet the requirements of intelligent, efficient and stable operation of the production line. In the waste incineration industry, steel production industry, cement and other industries, the application of manual driving or semi-automatic garages has been carried out to replace loading machinery.

[0003] However, most of the existing gypsum material warehousing and unloading work is semi-automatic, and when warehousing, all types of gypsum materials are mixed into the warehouse, which leads to chaos in the warehousing of gypsum materials, and then chaos is also prone to occur when leaving the warehouse, and it is impossible to achieve intelligent and unmanned orderly loading and unloading of materials. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent unmanned gypsum warehousing and out-of-warehouse scheduling control system and method to solve the technical problem that in the prior art, all kinds of gypsum materials are mixed into the warehouse during warehousing, resulting in chaos in the warehousing of gypsum materials, and then chaos is also likely to occur during out-of-warehouse, making it impossible to achieve intelligent unmanned orderly material loading and unloading.

[0005] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0006] An intelligent unmanned gypsum storage and out-of-warehouse dispatching and control system, including:

[0007] Incoming material monitoring module, used to monitor the quality of gypsum materials to be stored;

[0008] The storage crane operation module is configured to store the gypsum materials of different qualities into different areas based on the quality identification result of the gypsum materials by the incoming material monitoring module;

[0009] The inventory scanning and identification module is deployed on the warehouse-entering vehicle. It can obtain the point cloud collection of gypsum materials in the warehouse area as the warehouse-entering vehicle moves, and determine the storage status of the material pit where each gypsum material is located;

[0010] The outbound crane operation module is based on the storage status of the material pit where each gypsum material is located, combined with the storage time of each material pit and the storage status of the gypsum material, and the gypsum materials in different material pits are shipped out in sequence;

[0011] The processing system is respectively connected to the incoming material monitoring module, the incoming crane operation module, the inventory scanning and identification module, and the outgoing crane operation module. The processing system controls the incoming crane operation module based on the quality of the gypsum material to be stored in the warehouse identified by the incoming material monitoring module, so that the gypsum material in the incoming crane operation module is stored in different quality zones;

[0012] The processing system controls the storage vehicle operation module based on the storage status of the material pit where each gypsum material is located determined by the inventory scanning and identification module, so that the storage vehicle operation module stacks gypsum materials of the same quality in different material pits;

[0013] The processing system regulates the outbound crane operation module based on the warehousing time of the inbound crane operation module and the gypsum material storage status identified by the inventory scanning and identification module, so that the outbound crane operation module performs outbound work in combination with the stacking time and the material pile contour.

[0014] As a preferred solution of the present invention, the gypsum warehouse is divided into a batching area and a use area, wherein the batching area and the use area are respectively used to store desulfurized gypsum materials of different qualities, and the use area is also used to store mixed gypsum materials mixed with two qualities of desulfurized gypsum materials.

[0015] As a preferred solution of the present invention, the batching area and the use area for storing desulfurization gypsum of different qualities are divided into at least two material pits. After the warehouse-entry crane operation module is used to store a certain amount of gypsum material in one of the material pits, the warehouse-entry crane operation module is used to transfer the gypsum material to the next material pit for quantitative storage.

[0016] As a preferred solution of the present invention, a storage gypsum material statistics module is provided in the processing system, and the storage gypsum material statistics module determines the storage time of the gypsum material in each of the gypsum material pits and the start storage time of each gypsum material pit based on the operation time of the storage crane operation module;

[0017] The storage gypsum material statistics module determines the gypsum storage volume in each of the gypsum material pits based on the calculation result of the inventory scanning and identification module;

[0018] The processing system regulates the storage crane operation module based on the gypsum storage volume in each gypsum pit, so that the gypsum storage volume in each gypsum pit is a quantitative volume.

[0019] As a preferred solution of the present invention, each area of ​​the gypsum warehouse partition is provided with an inbound vehicle operation module and an outbound vehicle operation module, and the inbound vehicle operation module and the outbound vehicle operation module are both provided with a fault alarm unit, and the fault alarm unit is connected to the processing system;

[0020] When the fault alarm unit of the inbound crane operation module sends an alarm signal to the processing system, the processing system adjusts the outbound crane operation module to the inbound material grabbing operation or maintains its outbound material grabbing operation based on the current inbound demand and outbound demand;

[0021] When the fault alarm unit of the outbound crane operation module sends an alarm signal to the processing system, the processing system controls the inbound crane operation module to adjust the outbound material picking operation or maintain its inbound material grabbing operation based on the current inbound demand and outbound demand.

[0022] As a preferred solution of the present invention, a hanging beam is installed in each partition of the gypsum warehouse, and the inbound crane operation module and the outbound crane operation module are arranged on the hanging beam and can move linearly along the hanging beam;

[0023] The length of the hanging beam exceeds the span of the gypsum warehouse where the hanging beam is installed. After the fault alarm unit of the inbound crane operation module or the outbound crane operation module alarms, the processing system controls the inbound crane operation module or the outbound crane operation module to automatically move to the end of the hanging beam.

[0024] As a preferred solution of the present invention, the processing system also includes a gypsum material mixing module. After the gypsum material mixing demand is input into the gypsum material mixing module, the warehouse crane operation module is also used to mix the gypsum materials in different material pits in the same partition. The warehouse crane operation module sets the number of hopper transportation times and the weight of each hopper transportation based on the mixing ratio.

[0025] In addition, the present invention also provides a dispatching control method for an intelligent unmanned gypsum storage in and out dispatching control system, comprising the following steps:

[0026] Step 100: determine the storage status of gypsum materials in all material pits in each partition of the current gypsum warehouse to determine whether there is idle capacity in the gypsum warehouse. If there is no idle capacity in the gypsum warehouse, suspend the storage work;

[0027] Step 200: When there is free capacity in the gypsum warehouse, determine the storage pit based on the quality of the gypsum material to be stored, and control the storage vehicle to transport the gypsum material to be stored to the corresponding storage pit;

[0028] Step 300: monitor the volume of gypsum materials stored in each material pit in real time, and change the transportation route of the inbound vehicle based on the volume of the stored gypsum materials;

[0029] Step 400: Determine the demand for gypsum materials to be shipped out, form a shipping route for the shipping vehicle according to the first-in-first-out order of the gypsum materials, and the shipping vehicle performs shipping operations according to the shipping route.

[0030] As a preferred solution of the present invention, in step 200, when there is idle capacity in the gypsum warehouse and there is no outbound demand, but the inbound crane fails, the failed inbound crane is first regulated and moved to the end of the installation beam, and the outbound crane is used as the inbound crane, and the inbound transportation route of the outbound crane is determined;

[0031] When there is a demand for outbound transportation, but the outbound crane fails, the failed outbound crane is first adjusted and moved to the end where the hanging beam is installed, and the inbound crane is used as the outbound crane to determine the outbound transportation route of the inbound crane.

[0032] As a preferred solution of the present invention, in the step 300, when there is no gypsum material to be stored, the storage vehicle is controlled to perform the gypsum material dispensing work on different material pits in the gypsum storage by inputting the gypsum material dispensing information;

[0033] Based on the gypsum material types and gypsum material proportion information input by the gypsum material mixing information, the grabbing frequency of the grab bucket of the warehouse-entering crane for different gypsum material types and the weight of the gypsum material grabbed in a single time are regulated.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention can realize unmanned gypsum material storage, unmanned gypsum material preparation, unmanned gypsum material reserve calculation and unmanned processing of gypsum material out of the warehouse during the entire operation process of gypsum material storage and out of the warehouse, ensure that each unmanned management module works in a coordinated manner under the centralized scheduling control of the intelligent scheduling system, ensure stable, safe and efficient operation of the system, and realize unmanned intelligent operation of the material in and out management and the batching management of the gypsum warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0037] Figure 1 It is a structural block diagram of a gypsum material in-and-out storage dispatching and control system according to an embodiment of the present invention;

[0038] Figure 2 It is a flow chart of a method for controlling the warehousing and dispatching of gypsum materials according to an embodiment of the present invention;

[0039] The numbers in the figure represent the following:

[0040] 1-Incoming material monitoring module; 2-Incoming crane operation module; 3-Stock scanning and identification module; 4-Outgoing crane operation module; 5-Processing system; 6-Fault alarm unit;

[0041] 51- Gypsum material statistics module; 52- Gypsum material mixing module. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] like Figure 1 As shown, the present invention provides an intelligent unmanned gypsum warehousing-in and -out scheduling control system, including an incoming material monitoring module 1, an inbound crane operation module 2, an inventory scanning and identification module 3, an outbound crane operation module 4 and a processing system 5.

[0044] The incoming material monitoring module 1 is used to monitor the quality of the gypsum materials to be stored.

[0045] The storage crane operation module 2 divides the gypsum materials of different qualities into different areas for storage based on the quality identification result of the gypsum materials by the incoming material monitoring module 1.

[0046] The inventory scanning and identification module 3 is deployed on the warehouse-entering vehicle, and can obtain the gypsum material point cloud set in the warehouse area as the warehouse-entering vehicle moves, and determine the storage status of the material pit where each gypsum material is located.

[0047] The outbound crane operation module 4 outbounds the gypsum materials in different pits in sequence based on the storage status of the pits where each gypsum material is located, combined with the storage time of each pit and the storage status of the gypsum material.

[0048] The processing system 5 is respectively communicated with the incoming material monitoring module 1, the incoming crane operation module 2, the inventory scanning and identification module 3 and the outgoing crane operation module 4. The processing system 5 controls the incoming crane operation module 2 based on the quality of the gypsum material to be entered into the warehouse identified by the incoming material monitoring module 1, so that the gypsum material in the incoming crane operation module 2 is stored in different quality zones.

[0049] The processing system 5 controls the warehouse-entry crane operation module 2 based on the storage status of the material pit where each gypsum material is located determined by the inventory scanning and identification module 3, so that the warehouse-entry crane operation module 2 can stack gypsum materials of the same quality in different material pits.

[0050] The processing system 5 controls the outbound driving operation module 4 based on the warehousing time of the inbound driving operation module 2 and the gypsum material storage status identified by the inventory scanning and identification module 3, so that the outbound driving operation module 4 performs outbound work in combination with the stacking time and the material pile contour.

[0051] In this embodiment, the steps of realizing intelligent unmanned processing specifically include: unmanned gypsum material storage, unmanned gypsum material preparation, unmanned gypsum material reserve calculation and unmanned processing of gypsum material out of storage.

[0052] Among them, in order to realize the fully intelligent and unmanned processing of gypsum material storage and gypsum material preparation, this embodiment specifically identifies the quality of the gypsum material to be stored before the gypsum material is stored. The laboratory technician inputs the test results of the gypsum material to be stored into the processing system 5. The processing system 5 determines the quality of the gypsum material and the corresponding material pit when the gypsum material is stored based on the test results.

[0053] Based on the recognition result of the inventory scanning and recognition module 3, the processing system 5 determines the storage situation of the gypsum material in the corresponding material pit in the gypsum warehouse and determines whether the gypsum material is allowed to enter the warehouse. When the storage situation of the gypsum material in the material pit indicates that there is no capacity, the gypsum material is not allowed to enter the warehouse. When the storage situation of the gypsum material in the material pit indicates that there is still capacity, the gypsum material is allowed to enter the warehouse, thereby realizing unmanned storage of gypsum materials.

[0054] After gypsum materials of different qualities are stacked according to corresponding material pits, in order to realize unmanned processing of gypsum material preparation, the processing system 5 also includes a gypsum material preparation module 52. After the gypsum material preparation requirements are input into the gypsum material preparation module 52, the warehouse crane operation module 2 is also used to prepare the gypsum materials in different material pits in the same partition. The warehouse crane operation module 2 sets the number of hopper transportation and the weight of each hopper transportation based on the mixing ratio.

[0055] Furthermore, in order to realize unmanned calculation of gypsum reserves in the gypsum warehouse, a stock scanning and identification module 3 is deployed on the warehouse-entering vehicle. The stock scanning and identification module 3 can obtain the gypsum material point cloud set in the warehouse area as the warehouse-entering vehicle moves, and determine the storage status of the material pit where each gypsum material is located. The storage status includes the material pile outline, material pile volume and material pile weight.

[0056] When the gypsum board production line has material demand, in order to realize unmanned processing of gypsum material out of the warehouse, the starting time of gypsum material stacking in each material pit is determined based on the warehouse entry crane operation module 2, and then the stacking and storage time of the gypsum material is calculated, and the order of gypsum material discharge in the gypsum warehouse is determined according to the first-in-first-out order of the gypsum material, thereby realizing intelligent unmanned processing of gypsum material out of the gypsum warehouse.

[0057] Therefore, this embodiment utilizes the inbound crane operation module 2, the inventory scanning and identification module 3, and the outbound crane operation module 4 to ensure that each unmanned management module works in coordination under the centralized dispatching control of the intelligent dispatching system, ensuring stable, safe, and efficient operation of the system, and realizing unmanned intelligent operation of the material in and out management and the batching management of the gypsum warehouse.

[0058] Among them, in order to better realize the storage management and blending management of gypsum materials of different qualities, the gypsum warehouse is divided into a batching area and a usage area, wherein the batching area and the usage area are respectively used to store desulfurization gypsum materials of different qualities, and the usage area is also used to store mixed gypsum materials mixed with two qualities of desulfurization gypsum materials.

[0059] The gypsum partition for storing desulfurized gypsum of different qualities is divided into at least two material pits. After the warehouse-entering crane operation module 2 stores a certain amount of gypsum material in one of the material pits, the warehouse-entering crane operation module 2 transfers the gypsum material to the next material pit for quantitative storage.

[0060] Suppose that the desulfurized gypsum for storage of different qualities is divided into two partitions, namely, Partition I and Partition II. Partition I and Partition II are the batching area and the usage area respectively. Partition I is used as the batching area for storing low-quality desulfurized gypsum, and Partition II is used as the usage area for storing high-quality desulfurized gypsum or for mixing gypsum in the warehouse for direct loading and use.

[0061] The storage pits in Zone I are divided into two groups. The first group is Pit A and Pit B. The storage pits in Zone II are divided into Pit C and Pit D. They are located in two independent operating areas and have the same functions.

[0062] When it is determined that the storage partition is partition I based on the gypsum material test results, the storage status of the gypsum materials in pit A and pit B in partition I is determined based on the inventory scanning and identification module 3. When pit A or pit B has a holding volume, the gypsum material is put into storage through the storage crane operation module 2. When pit A or pit B has no holding volume, the gypsum material is transferred to the next pit B or pit A through the gypsum material storage crane operation module 2.

[0063] The implementation method of mixing and blending at least two gypsum materials is as follows: the gypsum material in the batching area and the gypsum material in the use area are blended in the material blending area. The blending ratio of the two quality materials can be adjusted by bucket or by weight. The blending and stacking are carried out alternately with the grabbing and warehousing. The above actions are fully automatic, and the material blending ratio is input and set by the upper computer.

[0064] The materials can be mixed in layers by throwing, that is, 2 qualities of materials are thrown and piled in proportion. The throwing length of a single bucket material is adjustable to 4 meters. The grab opening is automatically controlled during the process to ensure uniform material throwing. During throwing, the bucket is 1 meter away from the top surface of the material.

[0065] In order to further determine the total weight and volume of the stored gypsum materials, a storage gypsum material statistics module 51 is provided in the processing system 5. The storage gypsum material statistics module 51 determines the storage volume of gypsum in each gypsum pit based on the calculation result of the inventory scanning and identification module 3.

[0066] The processing system 5 controls the storage crane operation module 2 based on the gypsum storage volume in each gypsum pit, so that the gypsum storage volume in each gypsum pit is a quantitative volume.

[0067] In addition, based on the running time of the warehouse-entering crane operation module 2, the warehouse-entering gypsum material statistics module 51 determines the storage time of the gypsum material in each gypsum material pit and the start storage time of each gypsum material pit based on the running time of the warehouse-entering crane operation module 2.

[0068] Therefore, when there is a demand for unloading, for the gypsum material directly unloaded in the use area, the time point when the warehousing crane operation module 2 starts to transport it into the warehouse can be used as the starting storage time of the gypsum material pit. The material pit for direct unloading can determine the transportation route corresponding to the material pit where the outbound crane operation module 4 transports the gypsum material according to the principle of first in, first out.

[0069] For the material distribution area within the use area, the starting storage time corresponding to different distribution pits is determined according to the request time of the distribution needs. The material pits in the material distribution area determine the transportation routes corresponding to the material pits for transporting gypsum materials by the outbound crane operation module 4 according to the principle of first in, first out.

[0070] Among them, each area of ​​the gypsum warehouse partition is equipped with an inbound crane operation module 2 and an outbound crane operation module 4, and a fault alarm unit 6 is provided in the inbound crane operation module 2 and the outbound crane operation module 4, and the fault alarm unit 6 is connected to the processing system 5.

[0071] A hanging beam is installed in each partition of the gypsum warehouse, and the inbound crane operation module 2 and the outbound crane operation module 4 are arranged on the hanging beam and can move linearly along the hanging beam.

[0072] The length of the hanging beam exceeds the span of the gypsum warehouse where the hanging beam is installed. After the fault alarm unit 6 of the incoming crane operation module 2 or the outgoing crane operation module 4 alarms, the processing system 5 controls the incoming crane operation module 2 or the outgoing crane operation module 4 to automatically move to the end of the hanging beam.

[0073] When the fault alarm unit 6 of the inbound crane operation module 2 sends an alarm signal to the processing system 5, the processing system 5 adjusts the outbound crane operation module 4 to the inbound material grabbing operation or maintains its outbound material grabbing operation based on the current inbound demand and outbound demand;

[0074] When the fault alarm unit 6 of the outbound crane operation module 4 sends an alarm signal to the processing system 5, the processing system 5 controls the inbound crane operation module 2 to adjust the outbound material collection operation or maintain its inbound material collection operation based on the current inbound demand and outbound demand.

[0075] That is to say, in this embodiment, the inbound crane operation module 2 and the outbound crane operation module 4 in one gypsum warehouse partition can be used interchangeably.

[0076] When there is a demand for gypsum material to be put into storage but no demand for gypsum material to be taken out of storage, but the storage-in crane operation module 2 fails, the processing system 5 controls the alarmed storage-in crane operation module 2 to automatically move to the end of the hanging beam, and controls the out-of-stock crane operation module 4 to grab the material for storage.

[0077] When there is a demand for gypsum material to be put into storage and a demand for gypsum material to be taken out of storage at the same time, but the storage-in crane operation module 2 fails, the outbound crane operation module 4 still maintains its outbound material taking function.

[0078] When there is a demand for gypsum materials to be shipped out of the warehouse but no demand for gypsum materials to be shipped in, but the shipping crane operation module 4 fails, the processing system 5 controls the alarmed shipping crane operation module 4 to automatically move to the end of the hanging beam, and controls the shipping crane operation module 2 to ship out and pick up materials.

[0079] Similarly, when there is a demand for gypsum material to be put into storage and a demand for gypsum material to be taken out of storage at the same time, but the out-of-stock crane operation module 4 fails, the role of the in-stock crane operation module 2 is set based on the priority of the in-stock and out-of-stock work. For example, when the stock of the material pit corresponding to the gypsum material to be put into storage is relatively large, the in-stock crane operation module 2 is adjusted to grab the material for out-of-stock; when the stock of the material pit corresponding to the gypsum material to be put into storage is relatively small, the in-stock crane operation module 2 is adjusted to grab the material for in-stock.

[0080] In addition, if Figure 2 As shown, the present invention also provides a scheduling control method for the above-mentioned intelligent unmanned gypsum storage and out-of-warehouse scheduling control system, comprising the following steps:

[0081] Step 100: determine the storage status of gypsum materials in all material pits in each partition of the current gypsum warehouse to determine whether there is idle capacity in the gypsum warehouse. If there is no idle capacity in the gypsum warehouse, suspend the storage work;

[0082] Step 200: When there is free capacity in the gypsum warehouse, determine the storage pit based on the quality of the gypsum material to be stored, and control the storage vehicle to transport the gypsum material to be stored to the corresponding storage pit;

[0083] Step 300: monitor the volume of gypsum materials stored in each material pit in real time, and change the transportation route of the inbound vehicle based on the volume of the stored gypsum materials;

[0084] Step 400: Determine the demand for gypsum materials to be shipped out, form a shipping route for the shipping vehicle according to the first-in-first-out order of the gypsum materials, and the shipping vehicle performs shipping operations according to the shipping route.

[0085] In step 200, when there is idle capacity in the gypsum warehouse and there is no outbound demand, but the inbound crane fails, the failed inbound crane is first regulated and moved to the end of the installation beam, and the outbound crane is used as the inbound crane, and the inbound transportation route of the outbound crane is determined;

[0086] When there is a demand for outbound transportation, but the outbound crane fails, the failed outbound crane is first adjusted and moved to the end where the hanging beam is installed, and the inbound crane is used as the outbound crane to determine the outbound transportation route of the inbound crane.

[0087] In step 300, when there is no gypsum material to be stored, the gypsum material mixing information is input to control the storage vehicle to mix the gypsum materials in different material pits in the gypsum warehouse;

[0088] Based on the gypsum material type and gypsum material ratio information input by the gypsum material mixing information, the grab frequency of the grab bucket of the warehouse-entering crane for different types of gypsum materials and the weight of the gypsum material grabbed in a single time are adjusted.

[0089] Based on the above, this implementation method can realize unmanned gypsum material warehousing, unmanned gypsum material mixing, unmanned gypsum material reserve calculation and unmanned processing of gypsum material out of the warehouse during the entire operation process of gypsum material warehousing and out of the warehouse, ensuring that each unmanned management module coordinates work under the centralized scheduling control of the intelligent scheduling system, ensuring stable, safe and efficient operation of the system, and realizing unmanned intelligent operation of the material in and out management and ingredient management of the gypsum warehouse.

[0090] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. An intelligent unmanned gypsum storage and out-of-warehouse dispatching and control system, characterized in that: include: Incoming material monitoring module (1), used to monitor the quality of gypsum materials to be stored; The storage crane operation module (2) is configured to separate and store the gypsum materials of different qualities into different areas based on the quality identification result of the gypsum materials by the incoming material monitoring module (1); The inventory scanning and identification module (3) is deployed on the warehouse-entering vehicle, and can obtain the point cloud set of gypsum materials in the warehouse area as the warehouse-entering vehicle moves, and determine the storage status of the material pit where each gypsum material is located; The outbound crane operation module (4) is configured to sequentially outbound the gypsum materials in different material pits based on the storage status of each material pit where the gypsum materials are located, combined with the storage time of each material pit and the storage status of the gypsum materials; The processing system (5) is respectively connected to the incoming material monitoring module (1), the incoming vehicle operation module (2), the inventory scanning and identification module (3) and the outgoing vehicle operation module (4). The processing system (5) controls the incoming vehicle operation module (2) based on the quality of the gypsum material to be stored in the warehouse identified by the incoming material monitoring module (1), so that the gypsum material in the incoming vehicle operation module (2) is stored in different zones according to quality. The processing system (5) controls the storage vehicle operation module (2) based on the storage status of the material pit where each type of gypsum material is located determined by the inventory scanning and identification module (3), so that the storage vehicle operation module (2) stacks gypsum materials of the same quality in different material pits; The processing system (5) controls the outbound driving operation module (4) based on the warehousing time of the inbound driving operation module (2) and the gypsum material storage state identified by the inventory scanning and identification module (3), so that the outbound driving operation module (4) performs outbound work in combination with the stacking time and the material pile profile.

2. According to claim 1, an intelligent unmanned gypsum storage dispatching and control system is characterized in that: The gypsum warehouse is divided into a batching area and a use area, wherein the batching area and the use area are respectively used to store desulfurized gypsum materials of different qualities, and the use area is also used to store mixed gypsum materials which are mixed and prepared by mixing two qualities of desulfurized gypsum materials.

3. According to claim 2, an intelligent unmanned gypsum storage dispatching and control system is characterized in that: The batching area and the use area for storing desulfurized gypsum of different qualities are divided into at least two material pits. After a certain amount of gypsum material is stored in one of the material pits using the storage crane operation module (2), the gypsum material is transferred to the next material pit for quantitative storage using the storage crane operation module (2).

4. According to claim 3, an intelligent unmanned gypsum storage dispatching and control system is characterized in that: The processing system (5) is provided with a storage gypsum material statistics module (51), and the storage gypsum material statistics module (51) determines the storage time of the gypsum material in each of the gypsum material pits and the start storage time of each gypsum material pit based on the operation time of the storage vehicle operation module (2); The storage gypsum material statistics module (51) determines the gypsum storage volume in each gypsum material pit based on the calculation result of the inventory scanning and identification module (3); The processing system (5) controls the storage crane operation module (2) based on the gypsum storage volume in each gypsum pit, so that the gypsum storage volume in each gypsum pit is a quantitative volume.

5. According to claim 1, an intelligent unmanned gypsum storage and out-of-warehouse dispatching and control system is characterized in that: Each area of ​​the gypsum warehouse partition is provided with an inbound vehicle operation module (2) and an outbound vehicle operation module (4), and each of the inbound vehicle operation module (2) and the outbound vehicle operation module (4) is provided with a fault alarm unit (6), and the fault alarm unit (6) is connected to the processing system (5); When the fault alarm unit (6) of the inbound crane operation module (2) sends an alarm signal to the processing system (5), the processing system (5) controls the outbound crane operation module (4) to adjust to the inbound material grabbing operation or maintain its outbound material grabbing operation based on the current inbound demand and outbound demand; When the fault alarm unit (6) of the outbound crane operation module (4) sends an alarm signal to the processing system (5), the processing system (5) controls the inbound crane operation module (2) to adjust the outbound material collection operation or maintain its inbound material collection operation based on the current inbound demand and outbound demand.

6. The intelligent unmanned gypsum storage and out-of-warehouse dispatching and control system according to claim 5 is characterized in that: A hanging beam is installed in each partition of the gypsum warehouse, and the inbound crane operation module (2) and the outbound crane operation module (4) are arranged on the hanging beam and can move linearly along the hanging beam; The length of the hanging beam exceeds the span of the gypsum warehouse where the hanging beam is installed. After the fault alarm unit (6) of the inbound crane operation module (2) or the outbound crane operation module (4) alarms, the processing system (5) controls the inbound crane operation module (2) or the outbound crane operation module (4) to automatically move to the end of the hanging beam.

7. The intelligent unmanned gypsum storage and out-of-warehouse dispatching and control system according to claim 5 is characterized in that: The processing system (5) further comprises a gypsum material mixing module (52). After the gypsum material mixing demand is input into the gypsum material mixing module (52), the warehouse crane operation module (2) is further used to mix the gypsum materials in different material pits in the same partition. The warehouse crane operation module (2) sets the number of times the hopper is moved and the weight of each hopper movement based on the mixing ratio.

8. A dispatching control method based on the intelligent unmanned gypsum storage dispatching control system according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 100: determine the storage status of gypsum materials in all material pits in each partition of the current gypsum warehouse to determine whether there is idle capacity in the gypsum warehouse. If there is no idle capacity in the gypsum warehouse, suspend the storage work; Step 200: When there is free capacity in the gypsum warehouse, determine the storage pit based on the quality of the gypsum material to be stored, and control the storage vehicle to transport the gypsum material to be stored to the corresponding storage pit; Step 300: monitor the volume of gypsum materials stored in each material pit in real time, and change the transportation route of the inbound vehicle based on the volume of the stored gypsum materials; Step 400: Determine the demand for gypsum materials to be shipped out, form a shipping route for the shipping vehicle according to the first-in-first-out order of the gypsum materials, and the shipping vehicle performs shipping operations according to the shipping route.

9. The dispatching control method of an intelligent unmanned gypsum storage and out-of-warehouse dispatching control system according to claim 8 is characterized in that: In step 200, when there is idle capacity in the gypsum warehouse and there is no outbound demand, but the inbound crane fails, the failed inbound crane is first regulated and moved to the end of the installation beam, and the outbound crane is used as the inbound crane, and the inbound transportation route of the outbound crane is determined; When there is a demand for outbound transportation, but the outbound crane fails, the failed outbound crane is first adjusted and moved to the end where the hanging beam is installed, and the inbound crane is used as the outbound crane to determine the outbound transportation route of the inbound crane.

10. The dispatching control method of an intelligent unmanned gypsum storage and out-of-warehouse dispatching control system according to claim 8 is characterized in that: In the step 300, when there is no gypsum material to be stored, the gypsum material mixing information is input to control the storage vehicle to mix the gypsum materials in different material pits in the gypsum warehouse; Based on the gypsum material types and gypsum material proportion information input by the gypsum material mixing information, the grabbing frequency of the grab bucket of the warehouse-entering crane for different gypsum material types and the weight of the gypsum material grabbed in a single time are regulated.

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