Control method of intelligent warehouse based on magnetic suspension transmission and cellular partition temperature control

Abstract

The invention provides an intelligent warehouse control method based on magnetic suspension transmission and cellular partition temperature control, and the method comprises the steps: obtaining target cargo information, determining a target warehouse position in an intelligent warehouse according to the target cargo information, and storing the target warehouse position in the intelligent warehouse; and the target goods are guided to the target storage bin through the non-contact transmission module, so that the honeycomb type temperature control system controls the target storage bin. According to the intelligent warehouse system, the target warehouse position is determined in the intelligent warehouse according to the target cargo information, and the target cargo is guided to the target warehouse position through the non-contact transmission module, so that the honeycomb type temperature control system controls the target warehouse position, and the problems that an existing intelligent warehouse system is high in failure rate, high in energy consumption and low in compatibility are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing, and in particular to a control method for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control. Background Art

[0002] The development of intelligent logistics equipment has promoted the automation and intelligence of warehousing and transportation systems. However, the existing intelligent warehouse systems have a relatively high failure rate of gear transmission (>0.5‰), and there is a risk of mechanical wear in the electric push rod structure; the stratified refrigeration method leads to a 40% increase in energy consumption; the modular warehouse has insufficient dynamic adjustment ability when dealing with special-shaped goods, affecting storage efficiency and space utilization. At present, the existing intelligent warehouse systems have problems of high failure rate, high energy consumption and low compatibility. Summary of the Invention

[0003] An embodiment of the present invention provides a control method for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control, aiming to solve the problems of high failure rate, high energy consumption and low compatibility existing in the existing intelligent warehouse systems. By obtaining target goods information, determining a target position in the intelligent warehouse according to the target goods information, and guiding the target goods to the target position through a non-contact transmission module, so that the honeycomb temperature control system controls the target position. The present invention guides the target goods to the target position through a non-contact transmission module, so that the honeycomb temperature control system controls the target position, and solves the problems of high failure rate, high energy consumption and low compatibility existing in the existing intelligent warehouse systems.

[0004] In a first aspect, an embodiment of the present invention provides a control method for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control,

[0005] The intelligent warehouse includes a magnetic levitation goods transmission system, a honeycomb partition temperature control system and a collaborative control system. The magnetic levitation transmission system transmits target goods through a non-contact transmission module. The honeycomb temperature control system is used to adjust the temperature of each position. The collaborative control system is used to monitor the magnetic levitation gap and power distribution status in real time. The method includes the following steps:

[0006] Obtain target goods information;

[0007] Based on the target goods information, determine a target position in the intelligent warehouse;

[0008] Guide the target goods to the target position through the non-contact transmission module, so that the honeycomb temperature control system controls the target position.

[0009] Optionally, the guiding the target goods to the target position through the non-contact transmission module includes:

[0010] Determine the transmission path between the target goods and the target storage location based on the target storage location;

[0011] Based on the transmission path, guide the target goods to the target storage location through the contactless transmission module.

[0012] Optionally, the target goods information includes thermal characteristics, and the step of enabling the honeycomb temperature control system to control the target storage location includes:

[0013] According to the thermal characteristics of the target goods, control the target storage location and adjacent storage locations through the honeycomb temperature control system.

[0014] Optionally, the honeycomb temperature control system includes a number of hexagonal honeycomb control modules and a dynamic temperature compensation algorithm. The step of controlling the temperature of the target storage location through the honeycomb temperature control system according to the thermal characteristics of the target goods includes:

[0015] Based on the thermal characteristics of the target goods, control the temperature of the target storage location through the hexagonal honeycomb control module;

[0016] Adjust the heat conduction between the target storage location and adjacent storage locations through the dynamic temperature compensation algorithm.

[0017] Optionally, the collaborative control system includes a fault self-diagnosis module. After guiding the target goods to the target storage location through the contactless transmission module to enable the honeycomb temperature control system to control the target storage location, the method further includes:

[0018] Monitor the temperature of the magnetic levitation bearing through the fault self-diagnosis module;

[0019] If the temperature of the magnetic levitation bearing exceeds a preset temperature threshold, give a warning prompt;

[0020] Monitor the electromagnetic field strength of the magnetic levitation goods transmission system through the fault self-diagnosis module;

[0021] If the electromagnetic field strength does not exceed a preset strength threshold, give a warning prompt.

[0022] In a second aspect, an embodiment of the present invention further provides a control device for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control. The control device for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control is used to execute the control method for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control provided by the embodiment of the present invention. The control device for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control includes:

[0023] An acquisition module, configured to acquire target goods information;

[0024] A determination module, configured to determine a target storage location in the intelligent warehouse based on the target goods information;

[0025] A control module, configured to guide the target goods to the target storage location through the contactless track of the magnetic levitation bearing, so that the honeycomb temperature control system controls the target storage location.

[0026] In a third aspect, an embodiment of the present invention further provides an intelligent warehouse, which is configured to execute the control device of the intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control provided by the embodiment of the present invention. The intelligent warehouse includes a magnetic levitation goods transmission system, a honeycomb partition temperature control system, and a collaborative control system; the magnetic levitation goods transmission system transmits target goods through a contactless track of a magnetic levitation bearing, the honeycomb partition temperature control system is configured to adjust the temperature of each storage location, and the collaborative control system is configured to monitor the magnetic levitation gap and power distribution status in real time.

[0027] Optionally, the magnetic levitation goods transmission system includes a magnetic levitation bearing and a position sensing array. A contactless transmission track is constructed through the magnetic levitation bearing. The contactless transmission track adopts a hybrid drive structure of a U-shaped neodymium iron boron permanent magnet array and an electromagnetic coil, supports 360° omnidirectional movement, and the position sensing array is configured to locate the transmission path of the warehouse and the target goods.

[0028] Optionally, the honeycomb partition temperature control system includes a plurality of hexagonal honeycomb control modules and a dynamic temperature compensation algorithm; each hexagonal honeycomb control module includes a phase change energy storage module, a PTC thin film heating sheet, and a semiconductor refrigeration sheet. The phase change energy storage module is configured to absorb the heat impact when opening the door to pick up goods, the PTC thin film heating sheet is configured to heat the storage location, the semiconductor refrigeration sheet is configured to control the temperature of the storage location, and the dynamic temperature compensation algorithm is configured to automatically adjust the heat conduction between adjacent storage locations according to the thermal characteristics of the goods.

[0029] Optionally, the collaborative control system includes a dual closed-loop control module and a fault self-diagnosis module. The dual closed-loop control module includes a first closed loop and a second closed loop. The first closed loop is configured to maintain the suspension gap, the second closed loop is configured to perform power distribution, and the fault self-diagnosis module is configured to detect the bearing temperature and / or electromagnetic field strength parameters in real time.

[0030] In an embodiment of the present invention, target goods information is obtained. According to the target goods information, a target storage position is determined in the intelligent warehouse, and the target goods are guided to the target storage position through a contactless transmission module, so that the honeycomb temperature control system controls the target storage position. The present invention determines the target storage position in the intelligent warehouse according to the target goods information, and guides the target goods to the target storage position through the contactless transmission module, so that the honeycomb temperature control system controls the target storage position, solving the problems of high failure rate, high energy consumption, and low compatibility existing in the existing intelligent warehouse system. Brief Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 is a schematic structural diagram of an intelligent warehouse provided by an embodiment of the present invention;

[0033] Figure 2 is a schematic structural diagram of a maglev contactless track type transportation line provided by an embodiment of the present invention;

[0034] Figure 3 is a flowchart of a control method for an intelligent warehouse based on maglev transmission and honeycomb partition temperature control provided by an embodiment of the present invention;

[0035] Figure 4 is a schematic structural diagram of a control device for an intelligent warehouse based on maglev transmission and honeycomb partition temperature control provided by an embodiment of the present invention.

[0036] Among them, 201 is a stator component; 202 is a moving component. Detailed Embodiments

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0038] As Figure 1 shown, Figure 1It is a schematic diagram of an intelligent warehouse structure provided by an embodiment of the present invention. The intelligent warehouse includes a magnetic levitation cargo transmission system, a honeycomb partition temperature control system, and a collaborative control system. The magnetic levitation cargo transmission system is transmitted through a non-contact transmission module. The honeycomb partition temperature control system is used to adjust the temperature of each bin. The collaborative control system is used to monitor the magnetic levitation gap and power distribution status in real time.

[0039] In the embodiment of the present invention, the above-mentioned magnetic levitation cargo transmission system uses a non-contact transmission module to achieve non-contact track transmission, so that the cargo will not directly contact the track during the transmission process, thereby reducing friction and wear, and improving the transmission efficiency and stability.

[0040] The above-mentioned honeycomb partition temperature control system is a hexagonal honeycomb structure, which includes multiple independent temperature control areas, and each area can adjust the temperature separately. The above-mentioned honeycomb partition temperature control system can perform precise temperature control according to the storage requirements of different goods to ensure that the goods are stored in a suitable environment. The above-mentioned hexagonal honeycomb structure can be dynamically adjusted according to the size and shape of the goods, which can better meet the storage requirements of special-shaped commodities, and improve the space utilization rate and storage flexibility.

[0041] The above-mentioned collaborative control system is used to monitor and manage the operation status of the entire warehouse in real time. The collaborative control system monitors the gap and power distribution status of the magnetic levitation transmission system to ensure that the system operates in the best state, while avoiding overload or imbalance, thereby improving the overall efficiency and safety.

[0042] The above-mentioned non-contact transmission module can be a split magnetic levitation bearing or a magnetic levitation non-contact transportation line.

[0043] The above split-type magnetic levitation bearing can be understood as combining the characteristics of a split bearing and a magnetic levitation bearing. Through the interaction between electromagnetic force and permanent magnets, stable levitation of the levitated body is achieved. The above split-type magnetic levitation bearing includes a stator component and a rotor component. The above stator component includes an electromagnet unit, which is composed of multiple independently controlled electromagnets. Each electromagnet can be individually arranged in a honeycomb-type partition temperature control system, and each electromagnet can individually adjust the magnetic field strength to precisely control the position of the levitated body. The above stator component is in a separable form, divided into upper and lower halves, which is convenient for installation, maintenance, and replacement. Internal inspection or repair can be carried out without completely disassembling the system. The above rotor component includes a levitated body and a position sensor. The levitated body can be understood as the part to be levitated, which is a mechanical component related to cargo transportation. It can be a magnetic conductive material or a permanent magnet, used to interact with the magnetic field generated by the stator. The above position sensor is integrated on the levitated body, used to monitor the position of the levitated body in real time and feed back data to the control system. The position sensor can be a Hall sensor, etc. Compared with traditional rolling bearings, sliding bearings, and oil film bearings, the split-type magnetic levitation bearing has no mechanical contact, so it has the advantages of low wear, low energy consumption, low noise, long life, no need for lubrication, and no oil pollution.

[0044] Figure 2 It is a schematic structural diagram of a magnetic levitation non-contact transportation line provided by an embodiment of the present invention. Specifically, the above magnetic levitation non-contact transportation line includes a stator component and a moving component. The above stator component includes an electromagnet unit, which is composed of multiple independently controlled electromagnets. The multiple independently controlled electromagnets are arranged in a honeycomb-type partition temperature control system, and each electromagnet can individually adjust the magnetic field strength to accurately control the position of the levitated body. The above moving component includes a levitated body and a position sensor. The above levitated body can be understood as the part to be levitated, which is a mechanical component related to cargo transportation. It can be a magnetic conductive material or a permanent magnet, used to interact with the magnetic field generated by the stator component. The above position sensor is integrated on the levitated body, used to monitor the position of the levitated body in real time and feed back data to the collaborative control system. Compared with traditional rolling bearings, sliding bearings, and oil film bearings, the magnetic levitation non-contact transportation line has no mechanical contact, so it has the advantages of low wear, low energy consumption, low noise, long life, no need for lubrication, and no oil pollution.

[0045] It should be noted that the above collaborative control system receives data from the magnetic levitation cargo transportation system, can calculate the required current adjustment amount of the electromagnet through the PID algorithm, and correspondingly adjust the current of each electromagnet to maintain the stable levitation of the levitated body. The above PID algorithm can be understood as adjusting the output of the system by calculating the error (the difference between the expected value and the actual value) to reduce the difference between the actual position and the expected position of the levitated body.

[0046] The above non-contact track can be understood as the goods being transported on a frictionless track through magnetic levitation without directly contacting the track.

[0047] It should be noted that the present invention also uses PWM modulation. PWM (Pulse Width Modulation) is used to control the voltage and current in the system to achieve stepless speed regulation from 0 to 2 m / s. Through PWM modulation, the speed of the system can be continuously and steplessly adjusted from 0 m / s to 2 m / s. PWM modulation controls the average value of the output voltage or current by changing the pulse width, thereby achieving precise control of the system speed.

[0048] In this embodiment, a magnetic levitation goods transmission system, a honeycomb partition temperature control system, and a collaborative control system are integrated; the magnetic levitation goods transmission system is transmitted through a non-contact transmission module, the honeycomb partition temperature control system is used to adjust the temperature of each bin, and the collaborative control system is used to monitor the magnetic levitation gap and power distribution status in real time. By adopting a magnetic levitation bearing non-contact transmission track, the present invention effectively reduces frictional losses, thereby greatly reducing the wear and failure rate of mechanical components.

[0049] Optionally, the magnetic levitation goods transmission system includes magnetic levitation bearings and a position sensing array. A non-contact transmission track is constructed through the magnetic levitation bearings. The non-contact transmission track adopts a hybrid drive structure of a U-shaped neodymium iron boron permanent magnet array and an electromagnetic coil, supports 360° omnidirectional movement, and the position sensing array is used to locate the transmission path of the cargo bin and the target goods.

[0050] In the embodiment of the present invention, the above magnetic levitation goods transmission system constructs a non-contact transmission track using magnetic levitation bearings, combines a U-shaped neodymium iron boron permanent magnet array and an electromagnetic coil for drive, and realizes 360° omnidirectional movement.

[0051] The above magnetic levitation bearing can be understood as a magnetic levitation bearing that suspends the suspended body in the air by the action of magnetic force, so that there is no mechanical contact between the rotor component and the stator component. The above magnetic levitation bearing can be a split magnetic levitation bearing. The split magnetic levitation bearing combines the characteristics of a split bearing and a magnetic levitation bearing, and realizes the stable suspension of the suspended body through the interaction of electromagnetic force and permanent magnet.

[0052] The above U-shaped neodymium iron boron permanent magnet array refers to a magnet array composed of multiple U-shaped neodymium iron boron permanent magnets combined in a certain arrangement. The U-shaped neodymium iron boron permanent magnet has a high magnetic energy product and can provide a strong magnetic field in a small volume. The surface magnetic flux density of the above neodymium iron boron permanent magnet array ≥ 1.2T is used to construct the transmission track.

[0053] The above electromagnetic coil is an electrical component that works based on the principle of electromagnetic induction. It is made by winding a wire and has the functions of generating a magnetic field and inducing an electric current. The electromagnetic coil operates by passing an electric current through the wire to generate a magnetic field, and the magnitude and direction of the magnetic field are affected by the magnitude and direction of the current.

[0054] The above position sensing array is used to accurately locate the goods transmission path to ensure efficient and safe transmission.

[0055] Optionally, the honeycomb partition temperature control system includes several hexagonal honeycomb control modules and a dynamic temperature compensation algorithm; each hexagonal honeycomb control module includes a phase change energy storage module, a PTC thin film heating sheet, and a semiconductor refrigeration sheet. The phase change energy storage module is used to absorb the heat shock when opening the door to pick up goods, the PTC thin film heating sheet is used to heat the storage bin, the semiconductor refrigeration sheet is used to control the temperature of the storage bin, and the dynamic temperature compensation algorithm is used to automatically adjust the heat conduction between adjacent storage bins according to the thermal characteristics of the goods.

[0056] In the embodiment of the present invention, each of the above hexagonal honeycomb control modules is an independent temperature control unit responsible for temperature management within its specific area. The hexagonal honeycomb control module adopts a hexagonal honeycomb structure, which can be dynamically adjusted according to the size and shape of the goods, and can better adapt to the storage needs of special-shaped commodities, improving space utilization and storage flexibility.

[0057] The above phase change energy storage module is used to absorb the heat shock generated when opening the door to pick up goods and help stabilize the internal temperature. The energy storage density of the above phase change energy storage module ≥ 200 kJ / m 3 , and absorb the heat shock when opening the door to pick up goods.

[0058] The above PTC thin film heating sheet is used to heat the storage bin, and the response time < 3 seconds, which can quickly heat.

[0059] The above semiconductor refrigeration sheet can be a micro semiconductor refrigeration sheet and is used to control the temperature of the storage bin. The temperature difference range of the above semiconductor refrigeration sheet is -10°C to 50°C to achieve precise temperature control.

[0060] The above dynamic temperature compensation algorithm can be understood as measuring the ambient temperature and making corrections based on the relationship between the temperature and the measured value to improve the accuracy and stability of the sensor. The above dynamic temperature compensation algorithm can automatically adjust the temperature settings of adjacent storage bins according to the thermal characteristics of the goods and the current environmental conditions. The dynamic temperature compensation algorithm can monitor and respond to temperature changes in real time to ensure that the goods are stored under the best temperature conditions.

[0061] It should be noted that the honeycomb partition temperature control system dynamically adjusts the temperature of adjacent bins through a dynamic temperature compensation algorithm, which can adapt to the storage requirements of different goods, optimize energy efficiency and reduce energy consumption. The hexagonal honeycomb structure improves the space utilization rate and the locality of temperature control.

[0062] In the embodiment of the present invention, each hexagonal honeycomb bin is independently equipped with a phase change energy storage module, a PTC thin film heating sheet and a micro semiconductor refrigeration sheet. Combined with the dynamic temperature compensation algorithm, precise temperature control of each bin can be achieved.

[0063] In the embodiment of the present invention, by using the magnetic levitation braking energy recovery technology, the kinetic energy that would otherwise be wasted can be converted into the energy for powering the temperature control system, further improving the energy efficiency management and reducing the dependence on external energy.

[0064] Optionally, the cooperative control system includes a double closed-loop control module and a fault self-diagnosis module. The double closed-loop control module includes a first closed-loop and a second closed-loop. The first closed-loop is used to maintain the suspension gap, and the second closed-loop is used for power distribution. The fault self-diagnosis module is used to detect the bearing temperature and / or electromagnetic field strength parameters in real time.

[0065] In the embodiment of the present invention, the above first closed-loop can be understood as Hall sensor → magnetic levitation gap adjustment, which is used to maintain the suspension gap. It can maintain a suspension gap of 0.5 - 1 mm.

[0066] The above second closed-loop can be understood as infrared thermal imaging → dynamic temperature control power distribution, which is used for power distribution. It can be accurate to ±0.5°C.

[0067] The above fault self-diagnosis module monitors the bearing temperature and / or electromagnetic field strength parameters in real time. The fault self-diagnosis module can continuously monitor the key parameters of the bearing temperature and / or electromagnetic field strength in order to detect any abnormal or fault signs in time. For example, if the bearing temperature is too high or the electromagnetic field strength deviates from the normal range, the fault self-diagnosis module may trigger an alarm or take other measures to prevent further problems.

[0068] In the embodiment of the present invention, the present invention uses the fault self-diagnosis module to monitor the key parameters of the bearing temperature and electromagnetic field strength in real time, discovers potential problems in time and gives early warnings, further reducing the possibility of sudden failures and improving the reliability of the system.

[0069] The above cooperative control system also includes a power supply module. The power supply module provides the necessary power for the electromagnet to ensure that the electromagnet can generate enough magnetic force to support the suspended body.

[0070] It should be noted that the intelligent warehouse also includes a cooling system, which is used to maintain the normal operating temperature of the intelligent warehouse. This is because the electromagnet generates heat during operation. If heat dissipation is not carried out through the cooling system, the temperature of the intelligent warehouse will gradually increase, resulting in overheating. Overheating may affect the performance of the intelligent warehouse and may even cause damage or failure of the intelligent warehouse. The above cooling system can dissipate heat in the form of a liquid circulation loop, and the liquid cooling or coolant can flow inside the intelligent warehouse to absorb heat.

[0071] In a possible embodiment, a simulation experiment is carried out on the present invention. The present invention can still maintain the set temperature at an ambient temperature of -25°C to 55°C, ensuring the safety and quality of the goods in the warehouse.

[0072] As Figure 3 shown, Figure 3 is a flowchart of a control method for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control provided by an embodiment of the present invention. The control method for the intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control includes the following steps:

[0073] 301. Obtain target cargo information.

[0074] In the embodiment of the present invention, the above control method for the intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control can be applied to a server, and the server is communicatively connected to the intelligent warehouse. The above intelligent warehouse includes a magnetic levitation cargo transmission system, a honeycomb partition temperature control system, and a collaborative control system. The above magnetic levitation cargo transmission system transmits the target cargo through a non-contact transmission module. The above honeycomb partition temperature control system is used to adjust the temperature of each bin. The above collaborative control system is used to monitor the magnetic levitation gap and power distribution status in real time.

[0075] The above target cargo can be understood as the cargo that needs to be stored, transmitted, and managed in the intelligent warehouse.

[0076] The above cargo information includes information such as the obtained type, size, weight, storage requirements, etc.

[0077] In the embodiment of the present invention, the cargo information of the target cargo can be identified through image recognition technology. The above image recognition technology refers to the technology of using a computer to process, analyze, and understand images to identify various different patterns of targets and objects.

[0078] 302. Determine a target bin in the intelligent warehouse based on the target cargo information.

[0079] In the embodiment of the present invention, the target bin can be determined in the intelligent warehouse according to the target cargo information.

[0080] Specifically, based on information such as the size, weight, and storage requirements of the target goods, using the information of all goods recorded in the goods database in the intelligent warehouse (including size, weight, storage requirements, etc.), the inbound and outbound frequency of the goods, and the information of each warehouse (including size, etc.), a warehouse space larger than the size of the goods can be matched as a candidate warehouse space. Occupied or under-maintenance warehouse spaces are excluded from the candidate warehouse spaces, and the most suitable warehouse space for storing the target goods is selected from the non-excluded candidate warehouse spaces as the target warehouse space.

[0081] The above-mentioned target warehouse space can be understood as a storage location that meets the size, weight, and storage requirements of the target goods.

[0082] 303. Guide the target goods to the target warehouse space through a contactless transmission module, so that the honeycomb temperature control system controls the target warehouse space.

[0083] In the embodiment of the present invention, the above-mentioned contactless transmission module can transmit goods through magnetic levitation on a frictionless track without directly contacting the track. The above-mentioned contactless transmission module can perform contactless transmission through a split magnetic levitation bearing or through a magnetic levitation contactless transportation line.

[0084] The above-mentioned split magnetic levitation bearing combines the characteristics of a split bearing and a magnetic levitation bearing, and realizes the stable suspension of the suspended body through the interaction between electromagnetic force and permanent magnets.

[0085] The above-mentioned split magnetic levitation bearing includes a stator component and a rotor component. The stator component includes an electromagnet unit, and the electromagnet unit is composed of multiple independently controlled electromagnets. Each electromagnet can be individually arranged in the honeycomb partition temperature control system, and each electromagnet can individually adjust the magnetic field strength to precisely control the position of the suspended body; the stator component is in a divisible form, divided into upper and lower halves, which is convenient for installation, maintenance, and replacement, and internal inspection or repair can be carried out without completely disassembling the system; the rotor component includes a suspended body and a position sensor. The suspended body can be understood as the part to be suspended and is a mechanical component related to goods transmission. The suspended body can be a magnetically conductive material or a permanent magnet for interacting with the magnetic field generated by the stator; the position sensor is integrated on the suspended body and is used to monitor the position of the suspended body in real time and feed back the data to the control system; the position sensor can be a Hall sensor, etc. Compared with traditional rolling bearings, sliding bearings, and oil film bearings, the split magnetic levitation bearing has no mechanical contact, so it has the advantages of small wear, low energy consumption, low noise, long life, no need for lubrication, and no oil pollution.

[0086] The above-mentioned maglev non-contact transportation line includes a stator component and a moving component. The stator component includes an electromagnet unit, which is composed of multiple independently controlled electromagnets. The multiple independently controlled electromagnets are arranged in a honeycomb partition temperature control system. Each electromagnet can adjust the magnetic field intensity individually to accurately control the position of the levitated object. The moving component includes a levitated object and a position sensor. The levitated object can be understood as the part to be levitated and is a mechanical component related to cargo transportation. The levitated object can be a magnetically permeable material or a permanent magnet, which is used to interact with the magnetic field generated by the stator component. The position sensor is integrated on the levitated object and is used to monitor the position of the levitated object in real time and feed back the data to the collaborative control system. Compared with traditional rolling bearings, sliding bearings, and oil film bearings, the maglev non-contact transportation line has no mechanical contact, so it has the advantages of low wear, low energy consumption, low noise, long life, no need for lubrication, and no oil pollution.

[0087] Furthermore, the above-mentioned collaborative control system receives data from the maglev cargo transportation system, can calculate the required current adjustment amount of the electromagnet through the PID algorithm, and adjust the current of each electromagnet accordingly to maintain the stable levitation of the levitated object. The PID algorithm can be understood as adjusting the output of the system by calculating the error (the difference between the expected value and the actual value) to reduce the difference between the actual position and the expected position of the levitated object.

[0088] The above-mentioned contactless track can be understood as the cargo being transported on a frictionless track through a maglev bearing without direct contact with the track.

[0089] The above-mentioned guidance can be understood as the process of precisely delivering the target cargo to the specified target bin position through the maglev bearing contactless track system.

[0090] The above-mentioned honeycomb temperature control system has a hexagonal honeycomb structure, which contains multiple independent temperature control regions, and each region can adjust the temperature individually. The honeycomb partition temperature control system can accurately control the temperature according to the storage requirements of different goods to ensure that the goods are stored in a suitable environment. The hexagonal honeycomb structure can better adapt to the storage requirements of special-shaped commodities.

[0091] It should be noted that the maglev cargo transportation system precisely guides the target cargo to the specified target bin through the maglev bearing contactless track. Then, after the target cargo reaches the target bin, the honeycomb temperature control system is activated and the temperature of the target bin is controlled to ensure that the storage environment meets the specific requirements of the target cargo.

[0092] In the embodiments of the present invention, the present invention uses contactless track transmission by magnetic levitation bearings to improve the speed and accuracy of logistics distribution. Through the honeycomb temperature control system, the loss and waste of goods are reduced, and customer satisfaction is improved.

[0093] In the embodiments of the present invention, target goods information is obtained. According to the target goods information, a target storage location is determined in the intelligent warehouse, and the target goods are guided to the target storage location through a contactless transmission module, so that the honeycomb temperature control system controls the target storage location. The present invention determines a target storage location in the intelligent warehouse according to the target goods information, and guides the target goods to the target storage location through a contactless transmission module, so that the honeycomb temperature control system controls the target storage location, solving the problems of high failure rate, high energy consumption and low compatibility existing in the existing intelligent warehouse system.

[0094] Optionally, in the step of guiding the target goods to the target storage location through the contactless transmission module, the transmission path between the target goods and the target storage location can be determined based on the target storage location; based on the transmission path, the target goods are guided to the target storage location through the contactless transmission module.

[0095] In the embodiments of the present invention, the above-mentioned target storage location refers to the storage location that meets the size, weight, and storage requirements of the target goods.

[0096] Furthermore, a path planning algorithm can be used to calculate the transmission path from the location of the target goods to the target storage location according to the state of the intelligent warehouse. The core of the above-mentioned path planning algorithm is to find the optimal transmission path from the target goods to the target storage location in the intelligent warehouse. The above-mentioned path planning algorithm can be the A* algorithm, the D* algorithm, etc. It should be noted that when planning the path, the dynamic obstacles in the warehouse need to be monitored in real time, and the path needs to be updated simultaneously to ensure the safety and feasibility of the path.

[0097] Specifically, all locations in the intelligent warehouse can be defined as the state space. All locations include storage locations, channels, etc. Each state can be represented by a coordinate, such as (x, y); the current location of the target goods can be used as its actual state, and the location of the target storage location can be used as the target state. The A* algorithm is used for path search, starting from the starting state and gradually spreading to adjacent states until the target state is reached. When the target state is found, the path is traced back and the path from the starting state to the target state is output. It should be noted that when searching for the path, the obstacles in the warehouse need to be considered to avoid moving to the positions of the obstacles.

[0098] The above-mentioned transmission path can be understood as the transmission route from the location of the target goods to the target storage location.

[0099] The above non-contact transmission module refers to the transmission of goods through a magnetic levitation bearing on a frictionless track without direct contact with the track. The non-contact transmission module can perform non-contact transmission through a split magnetic levitation bearing or through a magnetic levitation non-contact transportation line.

[0100] In an embodiment of the present invention, after determining the target storage position, the optimal or most suitable transmission path between the target goods position and the target storage position can be determined; after the transmission path can be determined, the target goods are guided to the target storage position through the non-contact transmission module. The non-contact track allows the goods to move along a predetermined path without physical contact, reducing friction, wear, and potential maintenance requirements, while improving the accuracy and speed of movement.

[0101] Optionally, the target goods information includes thermal characteristics. In the step of controlling the target storage position by the honeycomb temperature control system, the target storage position and the adjacent storage positions can be controlled by the honeycomb temperature control system according to the thermal characteristics of the target goods.

[0102] In an embodiment of the present invention, the above thermal characteristics can be understood as the temperature change and heat conduction ability of materials or devices when heated.

[0103] The above honeycomb temperature control system has a hexagonal honeycomb structure, including multiple independent temperature control areas, and each area can be adjusted separately. The above honeycomb temperature control system can perform precise temperature control according to the storage requirements of different goods to ensure that the goods are stored in a suitable environment.

[0104] Furthermore, the honeycomb temperature control system monitors the temperature change and heat conduction ability of the target goods when heated through sensors, and can use a dynamic temperature compensation algorithm to adjust the temperature control devices of adjacent storage positions to achieve precise temperature control of the environment of the target goods and its adjacent storage positions. The above dynamic temperature compensation algorithm can be understood as measuring the ambient temperature and making corrections based on the relationship between the temperature and the measured value to improve the accuracy and stability of the sensors. Specifically, the honeycomb temperature control system monitors the temperature data of each storage position in real time through sensors, analyzes the temperature data using the dynamic temperature compensation algorithm, determines the temperature difference between the target storage position and its adjacent storage positions, and dynamically adjusts the temperature control devices (such as heating devices or refrigeration devices) of adjacent storage positions according to the temperature difference to compensate for the temperature change in the target storage position area and ensure the temperature uniformity and stability of the overall warehouse temperature.

[0105] In an embodiment of the present invention, when controlling the target storage position by the honeycomb temperature control system, the temperature of the target storage position and its adjacent storage positions can be adjusted according to the thermal characteristics of the stored goods to ensure a suitable storage environment for the goods.

[0106] Optionally, the honeycomb temperature control system includes a number of hexagonal honeycomb control modules and a dynamic temperature compensation algorithm. In the step of controlling the temperature of the target storage location through the honeycomb temperature control system according to the thermal characteristics of the target goods, the temperature of the target storage location can be controlled through the hexagonal honeycomb control module based on the thermal characteristics of the target goods; the heat conduction between the target storage location and adjacent storage locations can be adjusted through the dynamic temperature compensation algorithm.

[0107] In the embodiment of the present invention, the above-mentioned thermal characteristics refer to the temperature change and heat conduction ability of materials or devices when heated.

[0108] Each of the above-mentioned hexagonal honeycomb control modules is an independent temperature control unit responsible for temperature management within its specific area.

[0109] The hexagonal honeycomb control module includes a phase change energy storage module, a PTC thin film heating sheet, and a semiconductor refrigeration sheet. The above-mentioned phase change energy storage module is used to absorb the heat shock generated when opening the door to pick up goods and helps to stabilize the internal temperature. The above-mentioned PTC thin film heating sheet is used to heat the storage location. The above-mentioned semiconductor refrigeration sheet can be a micro semiconductor refrigeration sheet and is used to control the temperature of the storage location. The above-mentioned dynamic temperature compensation algorithm can be understood as measuring the ambient temperature and making corrections based on the relationship between the temperature and the measured value to improve the accuracy and stability of the sensor. The dynamic temperature compensation algorithm is used to automatically adjust the heat conduction between adjacent storage locations according to the thermal characteristics of the goods.

[0110] The above-mentioned temperature control can be understood as maintaining the temperature range required by the target goods through continuous monitoring and adjustment.

[0111] Furthermore, the honeycomb temperature control system needs to collect the temperature change and heat conduction ability of the target goods when heated, establish a mathematical model using the temperature change and heat conduction ability of the target goods when heated, simulate the behavior of the goods at different temperatures, and set the working parameters of the hexagonal honeycomb control module according to the simulation results of the model, such as temperature thresholds, heating / cooling rates, etc. The hexagonal honeycomb control module monitors the temperature of the target goods in real time and adjusts the work of the hexagonal honeycomb control module as needed to ensure that the goods are within a suitable temperature range.

[0112] In the embodiment of the present invention, by combining the honeycomb control module and the dynamic temperature compensation algorithm, precise control and adjustment of the temperature environment of the target goods are achieved, providing a reliable guarantee for the long-term storage or transportation of goods.

[0113] Optionally, the collaborative control system includes a fault self-diagnosis module. After guiding the target goods to the target storage location through the contact transmission module to enable the honeycomb temperature control system to control the target storage location, the temperature of the magnetic levitation bearing can also be monitored through the fault self-diagnosis module; if the temperature of the magnetic levitation bearing exceeds the preset temperature threshold, a warning prompt is given; the electromagnetic field strength of the magnetic levitation goods transmission system is monitored through the fault self-diagnosis module; if the electromagnetic field strength does not exceed the preset strength threshold, a warning prompt is given.

[0114] In an embodiment of the present invention, the above-mentioned fault self-diagnosis module is used to detect the bearing temperature and / or electromagnetic field strength parameters in real time.

[0115] The above-mentioned temperature monitoring can be understood as a process of real-time monitoring of the temperature of the magnetic levitation bearing through the fault self-diagnosis module.

[0116] The above-mentioned preset temperature threshold is the temperature threshold of the magnetic levitation bearing preset by the system. When the monitored temperature of the magnetic levitation bearing exceeds the preset temperature threshold, the system will issue a warning prompt to remind the operator or relevant personnel to take measures.

[0117] The above-mentioned electromagnetic field strength monitoring can be understood as a process of monitoring the electromagnetic field strength in the magnetic levitation goods transmission system through the fault self-diagnosis module.

[0118] The above-mentioned preset strength threshold is the electromagnetic field strength threshold of the magnetic levitation goods transmission system preset by the system. When it is monitored that the electromagnetic field strength of the magnetic levitation goods transmission system does not exceed the preset strength threshold, the system will issue a warning prompt.

[0119] The above-mentioned warning prompt can be understood as sending an emergency prompt signal to the system to avoid losses.

[0120] In an embodiment of the present invention, the present invention uses the fault self-diagnosis module to monitor the key parameters of the bearing temperature and electromagnetic field strength in real time, discovers potential problems in time and gives warnings, further reducing the possibility of sudden failures and improving the reliability of the system.

[0121] As Figure 4 shown, an embodiment of the present invention provides a control device for an intelligent warehouse. The control device for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control is used to execute the above-mentioned control method for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control. The control device for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control includes:

[0122] An acquisition module 401, configured to acquire target goods information;

[0123] A determination module 402, configured to determine a target storage location in the intelligent warehouse based on the target goods information;

[0124] A control module 403, configured to guide the target goods to the target storage location through the contactless track of the magnetic levitation bearing, so that the honeycomb temperature control system controls the target storage location.

[0125] Optionally, the control module 403 is further configured to determine a transmission path between the target goods and the target storage location based on the target storage location; and guide the target goods to the target storage location through the contactless track of the magnetic levitation bearing based on the transmission path.

[0126] Optionally, the control module 403 is further configured to control the target storage location and adjacent storage locations through the honeycomb temperature control system according to the thermal characteristics of the target goods.

[0127] Optionally, the control module 403 is further configured to perform temperature control on the target storage location through the hexagonal honeycomb control module based on the thermal characteristics of the target goods; and adjust the heat conduction between the target storage location and adjacent storage locations through the dynamic temperature compensation algorithm.

[0128] Optionally, the device further includes:

[0129] A first monitoring module, configured to monitor the temperature of the magnetic levitation bearing through a fault self-diagnosis module;

[0130] A first warning and prompting module, configured to perform a warning and prompting if the temperature of the magnetic levitation bearing exceeds a preset temperature threshold;

[0131] A second monitoring module, configured to monitor the electromagnetic field strength of the electromagnetic field of the magnetic levitation goods transmission system through a fault self-diagnosis module;

[0132] A second warning and prompting module, configured to perform a warning and prompting if the electromagnetic field strength does not exceed a preset strength threshold.

[0133] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0134] The above-disclosed is only the preferred embodiment of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A control method for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control, characterized in that, The intelligent warehouse includes a maglev cargo transmission system, a honeycomb partition temperature control system, and a collaborative control system. The maglev transmission system transmits the target goods through a non-contact transmission module. The honeycomb temperature control system is used to adjust the temperature of each bin. The collaborative control system is used to monitor the maglev gap and power distribution status in real time. The method includes the following steps: Obtain target goods information; Based on the target goods information, determine a target bin in the intelligent warehouse; Guide the target goods to the target bin through the non-contact transmission module, so that the honeycomb temperature control system controls the target bin.

2. The control method of the intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control according to claim 1, characterized in that, The guiding the target goods to the target bin through the non-contact transmission module includes: Based on the target bin, determine the transmission path between the target goods and the target bin; Based on the transmission path, guide the target goods to the target bin through the non-contact transmission module.

3. The control method of the intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control according to claim 2, characterized in that, The target goods information includes thermal characteristics. The enabling the honeycomb temperature control system to control the target bin includes: According to the thermal characteristics of the target goods, control the target bin and adjacent bins through the honeycomb temperature control system.

4. The control method of the intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control according to claim 3, wherein, The honeycomb temperature control system includes a number of hexagonal honeycomb control modules and a dynamic temperature compensation algorithm. The controlling the temperature of the target bin through the honeycomb temperature control system according to the thermal characteristics of the target goods includes: Based on the thermal characteristics of the target goods, control the temperature of the target bin through the hexagonal honeycomb control module; Adjust the heat conduction between the target bin and adjacent bins through the dynamic temperature compensation algorithm.

5. The control method of the intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control according to claim 4, characterized in that, The collaborative control system includes a fault self-diagnosis module. After guiding the target goods to the target bin through the non-contact transmission module so that the honeycomb temperature control system controls the target bin, the method further includes: Monitor the temperature of the maglev bearing through the fault self-diagnosis module; If the temperature of the maglev bearing exceeds a preset temperature threshold, give a warning prompt; Monitor the electromagnetic field strength of the maglev cargo transmission system through the fault self-diagnosis module; If the electromagnetic field strength does not exceed a preset strength threshold, give a warning prompt.

6. A control device for an intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control, characterized in that, The control device of the intelligent warehouse based on maglev transmission and honeycomb partition temperature control is used to execute the control method of the intelligent warehouse based on maglev transmission and honeycomb partition temperature control as described in any one of claims 1-5. The control device of the intelligent warehouse based on maglev transmission and honeycomb partition temperature control includes: An acquisition module for acquiring target goods information; A determination module for determining a target bin in the intelligent warehouse based on the target goods information; A control module for guiding the target goods to the target bin through the non-contact transmission module so that the honeycomb temperature control system controls the target bin.

7. An intelligent warehouse, characterized in that, The intelligent warehouse is used to execute the control device of the intelligent warehouse based on magnetic levitation transmission and honeycomb partition temperature control as claimed in claim 7. The intelligent warehouse includes a magnetic levitation cargo transmission system, a honeycomb partition temperature control system, and a collaborative control system. The magnetic levitation cargo transmission system transmits target goods through a non-contact transmission module. The honeycomb partition temperature control system is used to adjust the temperature of each bin. The collaborative control system is used to monitor the magnetic levitation gap and power distribution status in real time.

8. The intelligent storage warehouse according to claim 7, wherein The magnetic levitation cargo transmission system includes a magnetic levitation bearing and a position sensing array. A non-contact transmission track is constructed through the magnetic levitation bearing. The non-contact transmission track adopts a hybrid drive structure of a U-shaped neodymium iron boron permanent magnet array and an electromagnetic coil, supports 360° omnidirectional movement, and the position sensing array is used to locate the transmission path of the warehouse and the target goods.

9. The intelligent storage warehouse according to claim 7, characterized in that, The honeycomb partition temperature control system includes a number of hexagonal honeycomb control modules and a dynamic temperature compensation algorithm. Each hexagonal honeycomb control module includes a phase change energy storage module, a PTC thin film heating sheet, and a semiconductor refrigeration sheet. The phase change energy storage module is used to absorb the heat impact when the door is opened to pick up goods. The PTC thin film heating sheet is used to heat the bin. The semiconductor refrigeration sheet is used to control the temperature of the bin. The dynamic temperature compensation algorithm is used to automatically adjust the heat conduction between adjacent bins according to the thermal characteristics of the goods.

10. The intelligent storage warehouse according to claim 7, characterized in that, The collaborative control system includes a double closed-loop control module and a fault self-diagnosis module. The double closed-loop control module includes a first closed-loop and a second closed-loop. The first closed-loop is used to maintain the suspension gap. The second closed-loop is used for power distribution. The fault self-diagnosis module is used to detect the bearing temperature and / or electromagnetic field strength parameters in real time.

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