Control method and device for unstacking warehousing and shunting warehousing based on roller way system

Abstract

The invention discloses a control method and device for unstacking warehousing and shunting warehousing based on a roller way system. The method comprises the steps that first state information of a target tray and second state information of a target material box are obtained, the target tray is used for bearing the target material box, the first state information at least comprises first in-place information and first out-of-place information, and the second state information at least comprises second in-place information and second out-of-place information; based on the first state information and the second state information, a warehousing control strategy is generated, and the warehousing control strategy is used for controlling the automatic roller bed to drive the target tray and the target material box to enter from the entrance of the stereoscopic warehouse or drive the target tray to exit from the entrance of the stereoscopic warehouse; and after the target tray and the target material box enter the three-dimensional warehouse inlet in response, a warehouse-out control strategy is generated, the warehouse-out control strategy is used for controlling the automatic roller bed to drive the target tray and the target material box to be delivered from the three-dimensional warehouse outlet, and the technical problem of low efficiency caused by manual unstacking warehouse-in and warehouse-out is solved.

Description

Technical Field

[0001] The present invention relates to the field of automated transportation technology, and in particular to a control method and device for depalletizing, warehousing and diverting out of a warehouse based on a roller system. Background Art

[0002] The material handling system is an important component of realizing automated material handling. It is widely used in the fields of intelligent manufacturing, automobile manufacturing, home appliances, medicine, tobacco, food, warehousing and logistics. In traditional logistics warehouses, workers need to manually operate forklifts to unload materials from transportation vehicles and move them to the depalletizing area, then split the materials layer by layer, check and record the information of each layer, and then move them to the entrance; when leaving the warehouse, workers also manually search the system, find the warehouse instructions, take out the corresponding materials from the storage location, move them to the sorting area, and manually sort them to different outbound areas according to the destination. This process involves frequent physical labor and manual processing of information. In this process, the manual depalletizing, warehousing and outbound diversion work mode has obvious deficiencies in efficiency, cost, accuracy, safety and real-time information processing.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiment of the present invention provides a control method and device for depalletizing, warehousing and diverting out of the warehouse based on a roller system, so as to at least solve the technical problem of low efficiency caused by manual depalletizing, warehousing and out of the warehouse.

[0005] According to one aspect of an embodiment of the present invention, there is provided a control method for depalletizing, warehousing and diverting out of the warehouse based on a roller system, comprising: obtaining first status information of a target pallet and second status information of a target material box, wherein the target pallet is used to carry a target material box, and the first status information at least includes: first in-place information, first out-of-place information, and the second status information at least includes: second in-place information, second out-of-place information; based on the first status information and the second status information, generating a warehousing control strategy, the warehousing control strategy is used to control the automatic roller to drive the target pallet and the target material box to enter the self-supporting warehouse entrance, or to drive the target pallet to exit the self-supporting warehouse entrance; in response to the target pallet and the target material box entering the warehouse entrance, generating an out-of-warehouse control strategy, the out-of-warehouse control strategy is used to control the automatic roller to drive the target pallet and the target material box to exit the self-supporting warehouse exit.

[0006] Furthermore, obtaining the first status information of the target pallet and the second status information of the target material box includes: obtaining the first height information of the stacked material box and the second height information of the single-layer material box located in the destacking area, wherein the stacked material box is formed by stacking a plurality of single-layer material boxes; generating a destacking instruction based on the first height information and the second height information, the destacking instruction being used to control the destacking mechanism to perform a layered destacking operation on the stacked material boxes to obtain the target material box.

[0007] Further, based on the first status information and the second status information, a warehousing control strategy is generated, including: based on the first in-place information and the second in-place information, a first warehousing control strategy is generated in the warehousing control strategy, and the first warehousing control strategy is used to control the target pallet and the target material box to enter the self-supporting warehouse entrance.

[0008] Furthermore, based on the first status information and the second status information, a warehousing control strategy is generated, including: based on the first in-place information and the second out-of-place information, a second warehousing control strategy is generated in the warehousing control strategy, and the second warehousing control strategy is used to control the target pallet to exit or enter the buffer area from the self-supporting warehouse entrance.

[0009] Further, based on the first state information and the second state information, a control strategy is generated, including: based on the first non-presence information or the second non-presence information, a third entry control strategy is generated in the entry control strategy, and the third entry control strategy is used to control the alarm module to alarm.

[0010] Furthermore, in response to the target pallet and target material box entering the entrance of the vertical warehouse, an outbound control strategy is generated, and the control strategy is used to control the automatic roller to drive the target pallet and target material box to exit the vertical warehouse, and then includes: identifying the route label on the target material box to obtain the material box line information; based on the material box line information, a diversion instruction is generated, and the diversion instruction is used to control the diversion roller to perform diversion operations on the target material box.

[0011] Furthermore, first height information of a stacked box and second height information of a single-layer box located in the destacking area are obtained, including: obtaining a first image of the stacked box and a second image of the single-layer box located in the destacking area; performing point cloud processing on the first image and the second image to obtain first point cloud data corresponding to the first image and second point cloud data corresponding to the second image; and using a height detection algorithm to analyze the first point cloud data and the second point cloud data to obtain first height information and second height information.

[0012] According to another aspect of an embodiment of the present invention, a control device for depalletizing, warehousing and diverting out of the warehouse based on a roller system is also provided, including: an acquisition module, the acquisition module is used to acquire first status information of a target pallet and second status information of a target material box, wherein the target pallet is used to carry a target material box, the first status information at least includes: first in-place information, first out-of-place information, and the second status information at least includes: second in-place information, second out-of-place information; an entry control module, the entry control module is used to generate an entry control strategy based on the first status information and the second status information, the entry control strategy is used to control the automatic roller to drive the target pallet and the target material box to enter the self-supporting warehouse entrance, or to drive the target pallet to exit the self-supporting warehouse entrance; an out-of-warehouse control module, the out-of-warehouse control module is used to generate an out-of-warehouse control strategy in response to the target pallet and the target material box entering the warehouse entrance, the out-of-warehouse control strategy is used to control the automatic roller to drive the target pallet and the target material box to exit the self-supporting warehouse.

[0013] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0014] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0015] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0016] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0017] According to another aspect of the embodiments of the present invention, a computer program is provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0018] In the embodiment of the present invention, the system can dynamically generate the warehousing control strategy and the outbound control strategy by adopting the method of real-time state perception and intelligent strategy generation, automatically acquiring the in-place information and out-of-place information of the target pallet and the target material box, and combining the efficient operation of the automatic roller equipment and the decision support of the intelligent algorithm. This method avoids the inefficiency caused by information lag or decision delay in the traditional manual depalletizing warehousing and diversion outbound, realizes the automatic and intelligent material handling control, ensures that the materials can be accurately stored and outbound according to their status and needs, and achieves the purpose of improving the automation level of logistics operations, optimizing the logistics process, reducing manpower dependence, enhancing operation safety and reliability, and reducing logistics costs, thereby achieving the technical effect of high efficiency, low cost and high precision in material handling, and then solves the technical problem of low efficiency caused by manual depalletizing warehousing and outbound. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 The hardware structure block diagram of a computer terminal for realizing a control method for depalletizing, warehousing and diverting, warehousing based on a roller conveyor system is shown;

[0021] Figure 2 It is a flowchart of a first embodiment of a control method for depalletizing, warehousing and diverting out of a warehouse based on a roller conveyor system provided in an embodiment of the present application;

[0022] Figure 3 It is a flow chart of a second embodiment of a control method for depalletizing, warehousing and diverting out of a warehouse based on a roller conveyor system provided in an embodiment of the present application;

[0023] Figure 4 It is a schematic diagram of a control device for depalletizing, warehousing and diverting out of a warehouse based on a roller conveyor system provided in an embodiment of the present application;

[0024] Figure 5 It is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] It should be noted that the collected information (including but not limited to the first state information, the second state information, etc.) and data (including but not limited to the first point cloud data, the second point cloud data, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data are in compliance with relevant laws, regulations and standards, necessary confidentiality measures are taken, and public order and good customs are not violated, and corresponding operation entrances are provided for users to choose to authorize or refuse. For example, an interface is set up between this system and relevant users or institutions to provide users with corresponding operation entrances for users to choose to agree or refuse the automated decision results; if the user chooses to refuse, the expert decision process will be entered.

[0028] Example 1

[0029] According to an embodiment of the present application, a method embodiment of controlling depalletizing and warehousing and diverting and outbound flow based on a roller system is also provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 The hardware structure block diagram of a computer terminal (or mobile device) for implementing a control method for depalletizing and warehousing and diverting and warehousing based on a roller system is shown. Figure 1As shown, the computer terminal 10 (or mobile device) may include one or more (102a, 102b, ..., 102n are used to illustrate) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0031] It should be noted that the one or more processors 102 and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10 (or mobile device). As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0032] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the control method for destacking, warehousing and diverting out of the warehouse based on the roller system in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the control method for destacking, warehousing and diverting out of the warehouse based on the roller system is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0033] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 (or mobile device).

[0035] Under the above operating environment, this application provides Figure 2 The control method of depalletizing and warehousing and diverting and outbound warehousing based on a roller system is shown. Figure 2 It is a flow chart of the control method for depalletizing, warehousing and diverting out of the warehouse based on the roller system according to Example 1 of the present application.

[0036] Step S102, obtaining first state information of a target pallet and second state information of a target container, wherein the target pallet is used to carry the target container, the first state information at least includes: first in-place information and first out-of-place information, and the second state information at least includes: second in-place information and second out-of-place information;

[0037] In step S102, the target pallet refers to a pallet used to carry and transport materials, and its design usually takes into account load-bearing, size and compatibility to adapt to the use of automated roller systems and other handling equipment. The target material box is a container placed on the target pallet for loading and storing materials. The first state information and the second state information both include in-place information and out-of-place information, wherein the first in-place information indicates that the target pallet is located at a preset position, and the second in-place information indicates that the target material box is located at a preset position and needs to be moved or processed. The acquisition of status information usually relies on Internet of Things technology, sensors (such as photoelectric sensors, RFID, etc.) and visual systems.

[0038] The first state information may further include: maximum load-bearing capacity information, position coordinate information, and motion state information of the pallet; the second state information may further include weight information, size information, and material type information of the target material box.

[0039] Step S104, based on the first state information and the second state information, generating a storage control strategy, the storage control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to enter the self-supporting warehouse entrance, or drive the target pallet to exit the self-supporting warehouse entrance;

[0040] In step S104, based on the real-time status of the target pallet and the target bin, the automation system can automatically generate a decision plan for guiding the material warehousing operation. The strategy may include the material transportation path, transportation speed, pallet docking position, and bin stacking method.

[0041] Step S106, in response to the target pallet and the target material box entering the entrance of the vertical warehouse, a warehouse-out control strategy is generated, and the warehouse-out control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to be out of the vertical warehouse exit.

[0042] In step S106, based on the outbound instruction received by the automation system, a decision plan for guiding the outbound delivery of materials from the three-dimensional warehouse exit is automatically generated, which may include the material retrieval path, the scheduling of handling equipment, the sorting method of the material box, etc.

[0043] Through the above steps, the system can dynamically generate inbound control strategy and outbound control strategy by adopting the method of real-time state perception and intelligent strategy generation, automatically obtaining the in-place information and out-of-place information of the target pallet and target material box, and combining the efficient operation of the automatic roller equipment and the decision support of the intelligent algorithm. This method avoids the inefficiency caused by information lag or decision delay in the traditional manual depalletizing inbound storage and diversion outbound storage, realizes the automation and intelligent material handling control, and ensures that the materials can be accurately inbound and outbound according to their status and needs, so as to achieve the purpose of improving the automation level of logistics operations, optimizing the logistics process, reducing manpower dependence, enhancing operation safety and reliability, and reducing logistics costs, thereby achieving the technical effect of high efficiency, low cost and high precision in material handling, and then solving the technical problem of low efficiency caused by manual depalletizing inbound storage and outbound storage.

[0044] Optionally, in the control method for depalletizing and warehousing and diverting and outflowing based on a roller conveyor system provided in an embodiment of the present application, step S102, obtaining first state information of a target pallet and second state information of a target material box, includes:

[0045] Step S100, obtaining first height information of a stacked material box and second height information of a single-layer material box located in a destacking area, wherein the stacked material box is formed by stacking a plurality of single-layer material boxes;

[0046] In step S100, the first height information is used to represent the overall height of the stacked material box, and the second height information is used to represent the height of a single-layer material box.

[0047] Step S101, based on the first height information and the second height information, a destacking instruction is generated, where the destacking instruction is used to control a destacking mechanism to perform a layered destacking operation on a stacked material box to obtain a target material box.

[0048] In step S101, the system generates a control signal based on the height information and other status information of the material box to instruct the depalletizing mechanism to perform the layered depalletizing operation and decompose the stacked material boxes into single-layer material boxes. The depalletizing mechanism is a mechanical device in the logistics automation system, which usually includes a robotic arm, a visual positioning system, a height detection device, etc., and is used to execute depalletizing instructions to realize the automated disassembly of the stacked material boxes.

[0049] Through the above steps, the precise acquisition of height information enables the depalletizing mechanism to quickly and accurately locate each layer of the stacked material box, avoiding repeated checks and adjustments during manual depalletizing, and significantly speeding up the material flow. Through the real-time acquisition of height information and the intelligent generation of depalletizing instructions, the automation and intelligence of logistics operations are realized, which significantly improves logistics efficiency, operation safety and cost-effectiveness, and enhances the adaptability and flexibility of the logistics automation system.

[0050] Optionally, in the control method for depalletizing, warehousing and diverting out of the warehouse based on the roller system provided in the embodiment of the present application, step S104 generates a warehousing control strategy based on the first state information and the second state information, including:

[0051] Step S1041, based on the first in-place information and the second in-place information, a first warehousing control strategy is generated, and the first warehousing control strategy is used to control the target pallet and the target material box to enter the self-supporting warehouse entrance.

[0052] In step S1041, the first in-place information refers to the information that the target pallet is accurately located at the expected position, which is usually obtained through a photoelectric sensor, an RFID reader or other position detection device. The second in-place information corresponds to the in-place status of the target material box, and also uses a sensor or a visual system to confirm whether the material box is placed on the target pallet and whether the position is correct. The first warehousing control strategy: The system generates control instructions based on the first in-place information and the second in-place information, and guides the roller system to smoothly and efficiently deliver the target pallet carrying the correctly placed material box from the entrance of the three-dimensional warehouse into the three-dimensional warehouse.

[0053] Through the above steps, the first warehousing control strategy is generated based on the accurate information of the pallets and boxes, realizing the intelligent and efficient material handling. Specifically, by accurately sensing the position status of the target pallets and target boxes, the system can ensure that the materials are always on the correct path and position in the automated process, avoiding handling failures or storage conflicts caused by positioning errors, and significantly improving the success rate and efficiency of warehousing operations.

[0054] Optionally, in the control method for depalletizing, warehousing and diverting out of the warehouse based on the roller system provided in the embodiment of the present application, step S104 generates a warehousing control strategy based on the first state information and the second state information, including:

[0055] Step S1042, based on the first presence information and the second non-presence information, a second entry control strategy is generated in the entry control strategy, and the second entry control strategy is used to control the target pallet to exit from the self-supporting warehouse entrance or enter the buffer area.

[0056] In step S1042, the first in-place information refers to the information that the target pallet (the pallet used to carry the material box) is in its expected position, which is usually confirmed by devices such as photoelectric sensors, magnetic detectors or position encoders to confirm whether the pallet is in the correct position at the entrance of the three-dimensional warehouse. The second non-in-place information corresponds to the information that the target material box is not on the target pallet or is not in the expected position. This state may be caused by the failure of the material box to be correctly placed on the pallet during the destacking process, or the removal or drop of the material box from the pallet during the transportation process after destacking. By detecting the second non-in-place information, the system can identify the absence or abnormal position of the material box. When the second non-in-place information appears, the system automatically generates a second warehousing control strategy to guide the subsequent operation of the target pallet, including but not limited to exiting from the entrance of the three-dimensional warehouse or entering the buffer area to wait for subsequent processing. The generation of this strategy ensures the synchronization and integrity of the pallet and the material box, and avoids the waste of storage space and confusion in the operation process caused by the entry of empty pallets into the three-dimensional warehouse.

[0057] Optionally, in the control method for depalletizing and warehousing and diverting and outbound storage based on a roller system provided in an embodiment of the present application, step S104 generates a control strategy based on the first state information and the second state information, including:

[0058] Step S1043: generating a third entry control strategy in the entry control strategy based on the first non-presence information or the second non-presence information, wherein the third entry control strategy is used to control the alarm module to alarm.

[0059] In step S1043, the first non-in-place information refers to the information that the target pallet is not in the expected position, which usually indicates that the pallet has deviated from its proper path during the movement, and may not be accurately positioned at the entrance of the vertical warehouse. The second non-in-place information corresponds to the information that the target material box is not on the target pallet or is not in the expected position, indicating that the material box may have deviations or is missing in the process of depalletizing, handling, and placement. The above-mentioned alarm module is a component in the logistics automation system that is used to send a warning signal when an abnormal state is detected. It can be in the form of sound and light alarms, system interface prompts, email notifications, etc., and is intended to promptly remind operators or system maintainers to pay attention to and deal with problems.

[0060] Through the above steps, the non-in-place status of the target pallet or material box is intelligently detected, and the third warehousing control strategy is instantly generated to activate the alarm module, which significantly improves the operational safety and abnormal response efficiency of the logistics automation system.

[0061] Optionally, in the control method for depalletizing and warehousing and diverting and outbound storage based on the roller system provided in the embodiment of the present application, step S106 generates an outbound control strategy in response to the target pallet and the target material box entering the entrance of the vertical warehouse, and the control strategy is used to control the automatic roller to drive the target pallet and the target material box to exit the vertical warehouse, and then includes:

[0062] Step S107, identifying the route label on the target container and obtaining the container route information;

[0063] In step S107, the route tag is used to represent the destination, priority and other information about the target container. This identification process is usually carried out through automated identification technologies such as barcode scanners, QR code readers, and RFID readers to ensure the accuracy and real-time nature of information extraction. The above-mentioned container route information includes but is not limited to the specific path from the warehouse exit to the final delivery point, the nodes passed, the transportation priority, etc.

[0064] Step S108, generating a diversion instruction based on the material box line information, the diversion instruction is used to control the diversion roller to perform diversion operations on the target material box.

[0065] Through the above steps, by intelligently identifying the route label of the target material box and generating diversion instructions based on this information, this control method significantly improves the intelligence, flexibility and efficiency of the logistics automation system in the diversion and outbound operation. Specifically, the automated information reading ensures the accuracy and real-time nature of the material box route information, providing a basis for subsequent intelligent sorting. Subsequently, the diversion instructions based on the route information are generated to achieve precise guidance of materials, reduce sorting errors, avoid logistics bottlenecks, and accelerate material flow.

[0066] Optionally, in the control method for depalletizing, warehousing and diverting out of the warehouse based on the roller system provided in the embodiment of the present application, step S100, obtaining first height information of the stacked material box and second height information of the single-layer material box located in the depalletizing area, includes:

[0067] Step S1001, acquiring a first image of a stacked material box and a second image of a single-layer material box located in a destacking area;

[0068] Step S1002, performing point cloud processing on the first image and the second image to obtain first point cloud data corresponding to the first image and second point cloud data corresponding to the second image;

[0069] Step S1003: using a height detection algorithm to analyze the first point cloud data and the second point cloud data to obtain first height information and second height information.

[0070] Through the above steps, the logistics automation system realizes the intelligent material status detection process from image acquisition to point cloud processing and then to height information extraction, which significantly improves the efficiency and accuracy of logistics operations. Specifically, the acquisition of high-definition images provides rich visual information for subsequent processing. The point cloud processing technology converts this information into three-dimensional spatial data to build an accurate three-dimensional model of the discharge box, while the height detection algorithm accurately extracts the height parameters of the discharge box from the model, providing key material status information for subsequent depalletizing operations and material handling control. The application of this series of intelligent technologies not only improves the automation level of logistics operations, but also optimizes the material handling process, reduces manual intervention, and reduces logistics costs. At the same time, the accurate acquisition of height information helps prevent collisions and damage during material handling, and enhances the operational safety and reliability of the logistics automation system.

[0071] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0072] Figure 3 FIG. 1 is a flow chart of a control method for depalletizing, warehousing and diverting out of a warehouse based on a roller conveyor system according to another embodiment of the present application. Figure 3 As shown, the control method also includes:

[0073] Step S201, obtaining first height information of a stacked material box and second height information of a single-layer material box located in a destacking area, wherein the stacked material box is formed by stacking a plurality of single-layer material boxes;

[0074] Step S202, generating a destacking instruction based on the first height information and the second height information, wherein the destacking instruction is used to control a destacking mechanism to perform a layered destacking operation on the stacked material boxes to obtain a target material box;

[0075] Step S203, obtaining first state information of a target pallet and second state information of a target container, wherein the target pallet is used to carry the target container, the first state information at least includes: first in-place information and first out-of-place information, and the second state information at least includes: second in-place information and second out-of-place information;

[0076] Step S204, based on the first in-place information and the second in-place information, a first warehousing control strategy is generated, wherein the first warehousing control strategy is used to control the target pallet and the target material box to enter the self-supporting warehouse entrance;

[0077] Step S205, based on the first in-place information and the second out-of-place information, generating a second storage control strategy in the storage control strategy, the second storage control strategy is used to control the target pallet to exit from the self-supporting warehouse entrance or enter the buffer area;

[0078] Step S206, generating a third warehousing control strategy in the warehousing control strategy based on the first non-presence information or the second non-presence information, the third warehousing control strategy being used to control the alarm module to alarm;

[0079] Step S207, identifying the route label on the target container and obtaining the container route information;

[0080] Step S208, generating a diversion instruction based on the material box line information, the diversion instruction is used to control the diversion roller to perform diversion operations on the target material box.

[0081] Example 2

[0082] The embodiment of the present application also provides a control device for depalletizing, warehousing and diverting out of the warehouse based on a roller conveyor system. It should be noted that the control device for depalletizing, warehousing and diverting out of the warehouse based on a roller conveyor system in the embodiment of the present application can be used to execute the control method for depalletizing, warehousing and diverting out of the warehouse based on a roller conveyor system provided in the embodiment of the present application. The control device for depalletizing, warehousing and diverting out of the warehouse based on a roller conveyor system provided in the embodiment of the present application is introduced below.

[0083] According to an embodiment of the present application, a device for implementing the above-mentioned control method of depalletizing and warehousing and diverting and outflowing based on a roller system is also provided, such as Figure 4 The device comprises:

[0084] An acquisition module 301 is used to acquire the first state information of the target pallet and the second state of the target material box, wherein the target pallet is used to carry the target material box, and the first state information at least includes: first in-place information, first out-of-place information, and the second state information at least includes: second in-place information, second out-of-place information; an entry control module 302 is used to generate an entry control strategy based on the first state information and the second state information, and the entry control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to enter the self-supporting warehouse entrance, or to drive the target pallet to exit the self-supporting warehouse entrance; an outbound control module 303 is used to generate an outbound control strategy in response to the target pallet and the target material box entering the self-supporting warehouse entrance, and the outbound control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to exit the self-supporting warehouse exit.

[0085] The control device for depalletizing, warehousing and diverting out of the warehouse based on the roller system provided in the embodiment of the present application adopts the method of real-time state perception and intelligent strategy generation. By automatically obtaining the in-situ information and out-of-situ information of the target pallet and the target material box, combined with the efficient operation of the automatic roller equipment and the decision support of the intelligent algorithm, the system can dynamically generate the warehousing control strategy and the out-of-warehouse control strategy. This method avoids the inefficiency caused by information lag or decision delay in traditional manual depalletizing, warehousing and diverting out of the warehouse, realizes automated and intelligent material handling control, ensures that materials can be accurately stored and shipped out according to their status and needs, and achieves the purpose of improving the automation level of logistics operations, optimizing logistics processes, reducing manpower dependence, enhancing operation safety and reliability, and reducing logistics costs, thereby achieving the technical effect of high efficiency, low cost and high precision in material handling, and then solves the technical problem of low efficiency caused by manual depalletizing, warehousing and shipping out of the warehouse.

[0086] Optionally, in the control device for destacking warehousing and diverting out of the warehouse based on the roller system provided in the embodiment of the present application, the device also includes: a first acquisition module and a destacking module, the first acquisition module is used to obtain first height information of a stacked material box and second height information of a single-layer material box located in the destacking area, wherein the stacked material box is formed by stacking a plurality of single-layer material boxes; the destacking module is used to generate a destacking instruction based on the first height information and the second height information, and the destacking instruction is used to control the destacking mechanism to perform layered destacking operations on the stacked material boxes to obtain the target material box.

[0087] Optionally, in the control device for depalletizing, warehousing and diverting out of the warehouse based on the roller system provided in the embodiment of the present application, the warehousing control module includes a first warehousing control module, and the first warehousing control module is used to generate a first warehousing control strategy in the warehousing control strategy based on the first in-place information and the second in-place information, and the first warehousing control strategy is used to control the target pallet and the target material box to enter the self-supporting warehouse entrance.

[0088] Optionally, in the control device for depalletizing, warehousing and diverting out of the warehouse based on the roller system provided in the embodiment of the present application, the warehousing control module includes a second warehousing control module, and the second warehousing control module is used to generate a second warehousing control strategy in the warehousing control strategy based on the first in-place information and the second out-of-place information, and the second warehousing control strategy is used to control the target pallet to exit from the self-supporting warehouse entrance or enter the cache area.

[0089] Optionally, in the control device for depalletizing, warehousing and diverting out of the warehouse based on the roller system provided in the embodiment of the present application, the warehousing control module includes a third warehousing control module, and the third warehousing control module is used to generate a third warehousing control strategy in the warehousing control strategy based on the first non-presence information or the second non-presence information, and the third warehousing control strategy is used to control the alarm module to alarm.

[0090] Optionally, in the control device for depalletizing, warehousing and diverting outbound traffic based on a roller system provided in an embodiment of the present application, the outbound traffic control module includes an identification module and a diversion module, the identification module is used to identify the route label on the target material box and obtain the material box line information; the diversion module is used to generate diversion instructions based on the material box line information, and the diversion instructions are used to control the diversion roller to perform diversion operations on the target material box.

[0091] Optionally, in the control device for destacking warehousing and diverting out of the warehouse based on the roller system provided in the embodiment of the present application, the first acquisition module includes an acquisition sub-module, a point cloud processing module and an analysis module, the acquisition sub-module is used to acquire a first image of a stacked material box and a second image of a single-layer material box located in the destacking area; the point cloud processing module is used to perform point cloud processing on the first image and the second image to obtain first point cloud data corresponding to the first image and second point cloud data corresponding to the second image; the analysis module is used to analyze the first point cloud data and the second point cloud data using a height detection algorithm to obtain first height information and second height information.

[0092] It should be noted that the acquisition module 301, the warehousing control module 302, and the outbound control module 303 correspond to steps S102 to S106 in Example 1, and the three modules and the corresponding steps implement the same examples and application scenarios, but are not limited to the contents disclosed in the above-mentioned Example 1. It should be noted that the above-mentioned modules or units can be hardware components or software components stored in a memory (e.g., memory 104) and processed by one or more processors (e.g., processors 102a, 102b, ..., 102n), and the above-mentioned modules can also be run in the computer terminal 10 provided in Example 1 as part of the device.

[0093] Example 3

[0094] An embodiment of the present application may provide an electronic device, Figure 5 is a structural block diagram of an electronic device according to an embodiment of the present application. Figure 5 As shown, the electronic device may include: one or more ( Figure 5 (only one is shown) processor 1002, memory 1004, storage controller, and peripheral interface, wherein the peripheral interface is connected to the radio frequency module, audio module and display.

[0095] Among them, the memory can be used to store software programs and modules, such as program instructions / modules corresponding to the methods and devices in the embodiments of the present application, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0096] The processor may call the information and application program stored in the memory through the transmission device to perform the following steps:

[0097] Step S102, obtaining first state information of a target pallet and second state information of a target container, wherein the target pallet is used to carry the target container, the first state information at least includes: first in-place information and first out-of-place information, and the second state information at least includes: second in-place information and second out-of-place information;

[0098] Step S104, based on the first state information and the second state information, generating a storage control strategy, the storage control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to enter the self-supporting warehouse entrance, or drive the target pallet to exit the self-supporting warehouse entrance;

[0099] Step S106, in response to the target pallet and the target material box entering the entrance of the vertical warehouse, a warehouse-out control strategy is generated, and the warehouse-out control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to be out of the vertical warehouse exit.

[0100] The processor may also call the information and application program stored in the memory through the transmission device to perform the following steps: Step S102, obtaining the first state information of the target pallet and the second state information of the target container, which includes:

[0101] Step S100, obtaining first height information of a stacked material box and second height information of a single-layer material box located in a destacking area, wherein the stacked material box is formed by stacking a plurality of single-layer material boxes;

[0102] Step S101, based on the first height information and the second height information, a destacking instruction is generated, where the destacking instruction is used to control a destacking mechanism to perform a layered destacking operation on a stacked material box to obtain a target material box.

[0103] The processor may also call the information and application program stored in the memory through the transmission device to perform the following steps: Step S104, based on the first state information and the second state information, generate a warehousing control strategy, including:

[0104] Step S1041, based on the first in-place information and the second in-place information, a first warehousing control strategy is generated, and the first warehousing control strategy is used to control the target pallet and the target material box to enter the self-supporting warehouse entrance.

[0105] The processor may also call the information and application program stored in the memory through the transmission device to perform the following steps: Step S104, based on the first state information and the second state information, generate a warehousing control strategy, including:

[0106] Step S1042, based on the first presence information and the second non-presence information, a second entry control strategy is generated in the entry control strategy, and the second entry control strategy is used to control the target pallet to exit from the self-supporting warehouse entrance or enter the buffer area.

[0107] The processor may also call the information and application program stored in the memory through the transmission device to perform the following steps: Step S104, based on the first state information and the second state information, generating a control strategy, including:

[0108] Step S1043: generating a third entry control strategy in the entry control strategy based on the first non-presence information or the second non-presence information, wherein the third entry control strategy is used to control the alarm module to alarm.

[0109] The processor can also call the information and application program stored in the memory through the transmission device to perform the following steps: Step S106, in response to the target pallet and the target material box entering the entrance of the vertical warehouse, generate a warehouse-out control strategy, the control strategy is used to control the automatic roller to drive the target pallet and the target material box to exit the warehouse from the vertical warehouse exit, and then include:

[0110] Step S107, identifying the route label on the target container and obtaining the container route information;

[0111] Step S108, generating a diversion instruction based on the material box line information, the diversion instruction is used to control the diversion roller to perform diversion operations on the target material box.

[0112] The processor may also call the information and application program stored in the memory through the transmission device to perform the following steps: Step S100, obtaining the first height information of the stacked material box and the second height information of the single-layer material box located in the depalletizing area, including:

[0113] Step S1001, acquiring a first image of a stacked material box and a second image of a single-layer material box located in a destacking area;

[0114] Step S1002, performing point cloud processing on the first image and the second image to obtain first point cloud data corresponding to the first image and second point cloud data corresponding to the second image;

[0115] Step S1003: using a height detection algorithm to analyze the first point cloud data and the second point cloud data to obtain first height information and second height information.

[0116] By adopting the embodiment of the present application, the system can dynamically generate the warehousing control strategy and the out-of-warehouse control strategy by automatically acquiring the in-place information and the out-of-place information of the target pallet and the target material box, and combining the efficient operation of the automatic roller equipment and the decision support of the intelligent algorithm. This method avoids the inefficiency caused by information lag or decision delay in the traditional manual depalletizing warehousing and diversion out-of-warehouse, realizes the automated and intelligent material handling control, and ensures that the materials can be accurately stored and shipped out according to their status and needs, so as to improve the level of automation of logistics operations, optimize the logistics process, reduce manpower dependence, enhance the safety and reliability of operations, and reduce logistics costs. The purpose, thereby achieving the technical effect of high efficiency, low cost and high precision in material handling, and then solving the technical problem of low efficiency caused by manual depalletizing warehousing and out-of-warehouse.

[0117] It can be understood by those skilled in the art that Figure 5 The structure shown is for illustration only, and the electronic device may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, or other terminal devices. Figure 5 The structure of the electronic device is not limited. Figure 5 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Figure 5 Different configurations are shown.

[0118] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0119] Example 4

[0120] The embodiment of the present application further provides a storage medium. Optionally, in this embodiment, the storage medium can be used to store the program code executed by the control method for depalletizing, warehousing and diverting out of the warehouse based on the roller system provided in the first embodiment.

[0121] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0122] Step S102, obtaining first state information of a target pallet and second state information of a target container, wherein the target pallet is used to carry the target container, the first state information at least includes: first in-place information and first out-of-place information, and the second state information at least includes: second in-place information and second out-of-place information;

[0123] Step S104, based on the first state information and the second state information, generating a storage control strategy, the storage control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to enter the self-supporting warehouse entrance, or drive the target pallet to exit the self-supporting warehouse entrance;

[0124] Step S106, in response to the target pallet and the target material box entering the entrance of the vertical warehouse, a warehouse-out control strategy is generated, and the warehouse-out control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to be out of the vertical warehouse exit.

[0125] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0126] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0127] Example 5

[0128] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing the steps of a control method for depalletizing and warehousing and diverting and outbound storage based on a roller system.

[0129] Optionally, in this embodiment, the computer program product may be configured as a computer program for executing the following steps:

[0130] Step S102, obtaining first state information of a target pallet and second state information of a target container, wherein the target pallet is used to carry the target container, the first state information at least includes: first in-place information and first out-of-place information, and the second state information at least includes: second in-place information and second out-of-place information;

[0131] Step S104, based on the first state information and the second state information, generating a storage control strategy, the storage control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to enter the self-supporting warehouse entrance, or drive the target pallet to exit the self-supporting warehouse entrance;

[0132] Step S106, in response to the target pallet and the target material box entering the entrance of the vertical warehouse, a warehouse-out control strategy is generated, and the warehouse-out control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to be out of the vertical warehouse exit.

[0133] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0134] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0135] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0136] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0137] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0138] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0139] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A control method for depalletizing, warehousing and diverting out of warehouse based on a roller system, characterized in that: include: Acquire first status information of a target pallet and second status information of a target material box, wherein the target pallet is used to carry the target material box, the first status information at least includes: first in-place information and first out-of-place information, and the second status information at least includes: second in-place information and second out-of-place information; Based on the first state information and the second state information, a storage control strategy is generated, wherein the storage control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to enter the self-supporting warehouse entrance, or drive the target pallet to exit the self-supporting warehouse entrance; In response to the target pallet and the target material box entering the vertical warehouse entrance, a warehouse-out control strategy is generated, and the warehouse-out control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to be out of the vertical warehouse exit.

2. The control method for depalletizing, warehousing and diverting out of warehouse based on roller conveyor system according to claim 1 is characterized in that: Obtaining the first state information of the target pallet and the second state information of the target container, which includes: Acquire first height information of a stacked material box and second height information of a single-layer material box located in a destacking area, wherein the stacked material box is formed by stacking a plurality of the single-layer material boxes; Based on the first height information and the second height information, a depalletizing instruction is generated, and the depalletizing instruction is used to control a depalletizing mechanism to perform a layered depalletizing operation on the stacked material box to obtain the target material box.

3. The control method for depalletizing, warehousing and distributing for outbound transportation based on a roller system according to claim 1 is characterized in that: Generating a warehousing control strategy based on the first state information and the second state information includes: Based on the first in-place information and the second in-place information, a first warehousing control strategy is generated, and the first warehousing control strategy is used to control the target pallet and the target material box to enter the self-supporting warehouse entrance.

4. The control method for depalletizing, warehousing and distributing for outbound transportation based on a roller conveyor system according to claim 1 is characterized in that: Generating a warehousing control strategy based on the first state information and the second state information includes: Based on the first in-place information and the second out-of-place information, a second warehousing control strategy in the warehousing control strategy is generated, and the second warehousing control strategy is used to control the target pallet to exit from the self-supporting warehouse entrance or enter the buffer area.

5. The control method for depalletizing, warehousing and distributing for outbound transportation based on a roller system according to claim 1 is characterized in that: Based on the first state information and the second state information, a control strategy is generated, including: A third warehousing control strategy in the warehousing control strategy is generated based on the first non-presence information or the second non-presence information, and the third warehousing control strategy is used to control the alarm module to alarm.

6. The control method for depalletizing, warehousing and distributing for outbound transportation based on a roller conveyor system according to claim 1 is characterized in that: In response to the target pallet and the target material box entering the entrance of the vertical warehouse, a warehouse exit control strategy is generated, and the control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to exit the vertical warehouse, and then includes: Identify the route label on the target container to obtain the container route information; Based on the material box line information, a diversion instruction is generated, and the diversion instruction is used to control the diversion roller to perform a diversion operation on the target material box.

7. The control method for depalletizing, warehousing and distributing for outbound transportation based on a roller system according to claim 2 is characterized in that: Acquiring first height information of a stacked material box and second height information of a single-layer material box located in a depalletizing area includes: Acquire a first image of the stacked material box and a second image of the single-layer material box located in the depalletizing area; Performing point cloud processing on the first image and the second image to obtain first point cloud data corresponding to the first image and second point cloud data corresponding to the second image; The first point cloud data and the second point cloud data are analyzed by using a height detection algorithm to obtain the first height information and the second height information.

8. A control device for depalletizing, warehousing and diverting out of warehouse based on a roller system, characterized in that: include: An acquisition module, the acquisition module is used to acquire first status information of a target pallet and second status information of a target material box, wherein the target pallet is used to carry the target material box, the first status information at least includes: first in-place information and first out-of-place information, and the second status information at least includes: second in-place information and second out-of-place information; A storage control module, the storage control module is used to generate a storage control strategy based on the first status information and the second status information, the storage control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to enter the self-supporting warehouse entrance, or drive the target pallet to exit the self-supporting warehouse entrance; An outbound control module is used to generate an outbound control strategy in response to the target pallet and the target material box entering the vertical warehouse entrance, and the outbound control strategy is used to control the automatic roller conveyor to drive the target pallet and the target material box to exit the vertical warehouse.

9. An electronic device, characterized in that: include: A memory storing an executable program; A processor, configured to run a program, wherein the program executes the method according to any one of claims 1 to 8 when the program is run.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 8.

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