Fan control method and device, refrigerating unit and storage medium

Abstract

The embodiment of the invention relates to a fan control method and device, a refrigerating unit and a storage medium. The method comprises the steps that the article position of a target article stored in a target space and the fan position are obtained; determining a refrigeration core area of the target space according to the object position and the fan position; determining a refrigeration strategy of each fan according to the refrigeration core area and the fan position; and controlling each fan to perform refrigeration operation on the target space according to the refrigeration strategy. Therefore, different refrigeration strategies can be generated according to the positions of the articles stored in the space and the positions of the draught fans, the draught fans are controlled to conduct precise refrigeration on the positions of the articles, the matching degree of draught fan operation control and the article distribution space is improved, the operation energy consumption of a refrigeration unit in the space is reduced, and the refrigeration efficiency is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of refrigeration, and in particular, to a fan control method, device, refrigeration unit and storage medium. Background Art

[0002] With the development of cold chain logistics and intelligent warehousing technologies, cold storages, as key facilities for storing perishable items such as fresh produce, pharmaceuticals, and dairy products, their operating efficiency and energy consumption have become the focus of attention for enterprises.

[0003] Currently, traditional relatively large-scale storage cold storages all use a refrigeration method where multiple units start and stop simultaneously. This method relies on manual inspections or fixed temperature sensors to monitor the temperature distribution, and at the same time, uses fixed preset refrigeration parameters to control the operation of the units.

[0004] Therefore, the existing cold storage refrigeration methods cannot adjust the refrigeration strategy in real time according to the dynamic placement position of the goods and the actual internal space of the cold storage, resulting in insufficient matching between the fan operation control and the goods distribution space, and problems of overcooling or undercooling occurring in local areas, and further leading to the problem of low refrigeration efficiency due to high operating energy consumption of the cold storage. Summary of the Invention

[0005] In view of this, to solve the above technical problems or some of the technical problems, the embodiments of the present invention provide a fan control method, device, refrigeration unit and storage medium.

[0006] In a first aspect, the embodiments of the present invention provide a fan control method, including: Obtaining the item position of the target item stored in the target space and the fan position; Determining the refrigeration core area of the target space according to the item position and the fan position; Determining the refrigeration strategy of each fan according to the refrigeration core area and the fan position; Controlling each fan to perform a refrigeration operation on the target space according to the refrigeration strategy; The determining the refrigeration strategy of each fan according to the refrigeration core area and the fan position includes: Dividing the fans into first fans within the refrigeration core area and second fans outside the refrigeration core area according to each fan position; Judging whether there is a first fan in the refrigeration core area to obtain a judgment result; Obtaining the distance between each second fan and the refrigeration core area; Determining the refrigeration priority corresponding to each second fan according to the distance; Determining the refrigeration strategy of each fan according to the judgment result and the refrigeration priority.

[0007] In a possible implementation, the obtaining of the item position and the fan position of the target item stored in the target space includes: Receiving a plane map of the target space sent by an automatic guided transport device, where the automatic guided transport device is used to scan the target space when transporting the target item to the item position; Obtaining the item position and the fan position from the plane map.

[0008] In a possible implementation, the determining of the cooling strategy for each fan according to the judgment result and the cooling priority includes: When the judgment result is that there is a first fan in the cooling core area, determining the cooling strategy as: controlling the first fan to turn on and maintain the cooling operation state, after running for a preset duration each time, determining the difference between the temperature of the cooling core area and the target temperature, determining the number of second fans to be turned on according to the difference, and controlling the number of second fans to turn on according to the cooling priority; When the judgment result is that there is no first fan in the cooling core area, determining the cooling strategy as: controlling a preset number of the second fans to turn on according to the cooling priority, and if the temperature of the cooling core area is still lower than the target temperature after running for a preset duration each time, then controlling the preset number to increase.

[0009] In a possible implementation, the method further includes: Obtaining the current humidity of the cooling core area and obtaining the item type of the target item; Determining the target humidity range corresponding to the item type; Adjusting the fans that are running according to the current humidity and the target humidity range.

[0010] In a possible implementation, the adjusting of the fans that are running according to the current humidity and the target humidity range includes: When the current humidity is greater than the target humidity range, controlling the wind speed of the fans that are running to increase, and / or, controlling the air outlet angle of the fans that are running to be consistent with the position where the target item is located, and / or, increasing the number of the fans that are running; When the current humidity is less than the target humidity range, controlling the wind speed of the fans that are running to decrease, and / or, controlling the air outlet angle of the fans that are running to deviate from the position where the target item is located, and / or, reducing the number of the fans that are running.

[0011] In a possible implementation, the method further includes: When there are multiple refrigeration core areas, determining the refrigeration strategy as: controlling the first fan in each refrigeration core area to turn on and maintain the refrigeration operation state, and determining the refrigeration demand of each refrigeration core area according to the volume of the target item in each refrigeration core area, and determining the number of second fans to be turned on and the air outlet direction according to the refrigeration demand and / or the distance between each second fan and each refrigeration core area.

[0012] In a second aspect, an embodiment of the present invention provides a fan control device, including: An acquisition module, configured to acquire the item position and the fan position of the target item stored in the target space; A determination module, configured to determine the refrigeration core area of the target space according to the item position and the fan position; The determination module is further configured to determine the refrigeration strategy of each fan according to the refrigeration core area and the fan position; A control module, configured to control each fan to perform a refrigeration operation on the target space according to the refrigeration strategy; The determining the refrigeration strategy of each fan according to the refrigeration core area and the fan position includes: Dividing the fans into first fans within the refrigeration core area and second fans outside the refrigeration core area according to each fan position; Judging whether there is a first fan in the refrigeration core area to obtain a judgment result; Obtaining the distance between each second fan and the refrigeration core area; Determining the refrigeration priority corresponding to each second fan according to the distance; Determining the refrigeration strategy of each fan according to the judgment result and the refrigeration priority.

[0013] In a third aspect, an embodiment of the present invention provides a refrigeration unit, including: a processor and a memory, where the processor is configured to execute a fan control program stored in the memory to implement the fan control method according to any one of the first aspects above.

[0014] In a fourth aspect, an embodiment of the present invention provides a storage medium, where the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the fan control method according to any one of the first aspects above.

[0015] The fan control solution provided by the embodiments of the present invention obtains the item position of the target item stored in the target space and the fan position; determines the refrigeration core area of the target space according to the item position; determines the refrigeration strategy of each fan according to the refrigeration core area and the fan position; and controls each fan to perform a refrigeration operation on the target space according to the refrigeration strategy. Thus, different refrigeration strategies can be generated based on the item position stored in the space and the fan position to control the fan to precisely refrigerate the item position, improving the matching degree between the fan operation control and the item distribution space, reducing the operation energy consumption of the refrigeration unit in the space, and improving the refrigeration efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic flowchart of a fan control method provided by an embodiment of the present invention; Figure 2 It is a schematic flowchart of another fan control method provided by an embodiment of the present invention; Figure 3 It is a schematic structural diagram of a fan control device provided by an embodiment of the present invention; Figure 4 It is a schematic structural diagram of a refrigeration unit provided by an embodiment of the present invention; Figure 5 It is a schematic diagram of the first cold storage structure provided by an embodiment of the present invention; Figure 6 It is a schematic diagram of the second cold storage structure provided by an embodiment of the present invention; Figure 7 It is a schematic diagram of the third cold storage structure provided by an embodiment of the present invention; Figure 8 It is a schematic diagram of the fourth cold storage structure provided by an embodiment of the present invention; Figure 9 It is a schematic diagram of the fifth cold storage structure provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] For ease of understanding of the embodiments of the present invention, the following will further explain with specific embodiments in conjunction with the accompanying drawings. The embodiments do not constitute a limitation to the embodiments of the present invention.

[0019] Figure 1 The flowchart of a fan control method provided by an embodiment of the present invention is shown as Figure 1 shown, and the method specifically includes: S11. Obtain the item position of the target item stored in the target space and the fan position.

[0020] The fan control method provided by an embodiment of the present invention is applied to a refrigeration unit (for example, a device for refrigerating a cold storage). The refrigeration unit can be refrigeration-controlled by control devices such as a server, a desktop computer, a tablet computer, and a management control system of the cold storage. The refrigeration unit includes multiple fans arranged at different positions in the space to be refrigerated (cold storage). Specific application scenarios may include, but are not limited to: various cold chain storage environments with high-efficiency temperature control requirements, and are particularly suitable for intelligent cold storage scenarios with a large area, complex internal structure, and frequent goods in and out (for example, large logistics cold storages, intelligent fresh food storage centers, pharmaceutical cold chain warehouses, etc.). Specifically, different refrigeration strategies can be generated based on the item positions and fan positions stored in the space to control the fans to accurately refrigerate the item positions.

[0021] In this embodiment, the target space may be a cold storage for storing the target item. Multiple fans for refrigeration are arranged in the target space. The target item is the goods stored in the cold storage. Accurately obtain the positions of each piece of goods stored in the target space as the item positions, and the spatial coordinates and orientations of all built-in fans, etc. as the fan positions.

[0022] Specifically, the lidar and image recognition module of an automated guided vehicle (AGV) or other mobile devices can be used to upload the scan data of the target space. For example, the scan data may include, but is not limited to: static information such as shelf / tray / goods images collected by an image recognition camera, cold storage structure diagrams (CAD or BIM), floor plans, and fan installation drawings.

[0023] Specifically, the "Simultaneous Localization and Mapping (SLAM) algorithm" can be used to let devices such as AGVs walk in the warehouse; use lidar to scan the environment in real time to construct a two-dimensional / three-dimensional space map; mark the spatial contours and position coordinates of the goods, and obtain the fixed installation coordinates of the fan equipment, or obtain its spatial coordinates and wind direction through visual recognition / tag recognition. Convert all the data obtained about the fans and the target items to the same map coordinate system, and a set of "item position point sets" can be output as the item positions, and "fan position point sets (including wind direction)" as the fan positions.

[0024] As an example, the floor plans of different cold storages can be scanned through an AGV, as Figure 5The following is a schematic diagram of the first cold storage structure provided by an embodiment of the present invention. Figure 6 The following is a schematic diagram of the second cold storage structure provided by an embodiment of the present invention. Figure 7 The following is a schematic diagram of the third cold storage structure provided by an embodiment of the present invention. Figure 5 It is a regular cold storage. Figure 5 In it, 1 is an internal blower (including four blowers numbered ①②③④), 2 is the stored goods, and 3 is the interior of the cold storage. Figure 6 and Figure 7 The irregular cold storage also includes goods and three blowers ①②③. Figures 5 - 7 The dotted line in it is used to assist in positioning the center point in the cold storage that has the same interval distance from each internal blower; the dash-dotted line is used to assist in judging the interval distance between the stored goods and each internal blower. It is used for subsequent calculation of the refrigeration core area.

[0025] S12. Determine the refrigeration core area of the target space according to the positions of the items and the blowers.

[0026] In this embodiment, the refrigeration core area refers to a sub-area within the target space where the goods are concentrated, the cooling load is the largest, and the temperature control is the most critical in the current space. The system needs to preferentially allocate the cooling capacity resources to this area.

[0027] If the target space is an irregular cold storage, the straight-line distance can be calculated between each blower and each target item, the distance line segments are divided into four equal parts, and the "quarter point closest to the target item" is extracted. All such points form a point set, and an envelope polygon or ellipsoid region is constructed around it as the refrigeration core area to make the target item in the refrigeration core area. If the target space is a regular cold storage, the cold storage is evenly divided into several grid areas on the XY plane, the area / volume occupied by the goods in each area is counted, and several grids with the highest proportion are selected as the refrigeration core area. Similarly, for an irregular cold storage, the method of determining the refrigeration core area of a regular cold storage can also be selected. It is also possible to directly determine the preset area range around the target item as the refrigeration core area.

[0028] Optionally, using the PCA algorithm, perform principal component analysis on the point cloud distribution of the goods. There are three types of key space points in the cold storage: the position point set of the target item: representing the distribution of the goods in space, the blower position point set: representing the source of the cold air, and the geometric center point: the overall spatial geometric center of the cold storage. Through the positions of these spatial points, the system will calculate their spatial structure characteristics, and use PCA to analyze the main distribution direction of the goods, so as to infer the main dense area of the cooling load, that is, the refrigeration core area.

[0029] As an example, as Figure 8 The following is a schematic diagram of the fourth cold storage structure provided by an embodiment of the present invention. Figure 8It is a regular cold storage, and the shaded part is the determined refrigeration core area. For example, Figure 9 Figure 5 shows the schematic structural diagram of the fifth cold storage provided by the embodiment of the present invention. Figure 9 It is an irregular cold storage, and the shaded part is the determined refrigeration core area.

[0030] S13. Determine the refrigeration strategy for each fan according to the refrigeration core area and the fan position.

[0031] In this embodiment, the refrigeration strategy of the fan may include, but is not limited to: the on / off state, start priority, air volume, wind direction angle, working frequency, etc. of each fan. The system needs to intelligently set its refrigeration strategy according to whether the fan covers the refrigeration core area or is in the refrigeration core area.

[0032] Specifically, the spatial relationship between the fan and the refrigeration core area can be calculated: the distance from the fan to the area (the distance from the fan to the center of the refrigeration core area or the shortest distance), whether the wind direction is towards the core area, whether the fan coverage includes the refrigeration core area, etc. The priority weight can be constructed according to the reciprocal of the distance d from the fan to the refrigeration core area. The more the fan covers the refrigeration core area and the closer it is to the target item, the higher the priority; at the same time, the opening priority levels of the fans can be set: primary fan (always on), secondary fan (turned on when the temperature is abnormal), and tertiary fan (standby). The policy parameters formulated for each fan include: whether to turn on, air volume / frequency (controlled according to the heat load ratio), wind direction angle, defrost / standby / energy-saving state switching conditions.

[0033] As an example, as Figure 8 shown, according to the distances between each built-in fan and the refrigeration core area or the target item, the system determines that the control priorities from high to low are ②, ③, ①, and ④ respectively. The system sets the No. ② built-in fan to the always-on operation state as the main temperature control device for the refrigeration core area. Other fans are started and stopped according to the temperature change in the warehouse. During the pre-cooling period of the goods, the system may instruct the No. ② fan to directly blow cold air towards the goods and increase the frequency of the external unit compressor to quickly cool down to the set temperature. During the storage period of the goods, the system will maintain a relatively constant temperature, such as controlling the intelligent defrosting of the built-in fan. If the No. ② built-in fan fails, or the current refrigeration temperature fails to reach the target temperature, the system will automatically turn on the No. ③ built-in fan with the next priority.

[0034] S14. Control each fan to perform refrigeration operations on the target space according to the refrigeration strategy.

[0035] In this embodiment, the system issues control instructions to the fans through an intelligent controller or a PLC device according to the refrigeration strategy to achieve dynamic refrigeration scheduling. The ultimate goal is to ensure the optimal cargo cooling efficiency and global energy consumption. The strategy instructions for each fan can include: on / off, air volume, direction, frequency, etc. Temperature sensors continuously monitor the temperature of each area, and the fan power and energy consumption are transmitted back in real time. If it is found that the local temperature deviation is greater than the set threshold, the strategy is dynamically adjusted, such as turning on the fan with the next priority level, increasing the speed of a certain fan, or temporarily turning on the standby fan. If a priority fan fails, the system automatically enables the fan with the next priority level to replace its function, realizing intelligent fault tolerance and unattended operation.

[0036] The fan control method provided by the embodiment of the present invention includes: obtaining the item position of the target item stored in the target space and the fan position; determining the refrigeration core area of the target space according to the item position and the fan position; determining the refrigeration strategy of each fan according to the refrigeration core area and the fan position; and controlling each fan to perform a refrigeration operation on the target space according to the refrigeration strategy. Thus, different refrigeration strategies can be generated based on the item position stored in the space and the fan position to control the fan to precisely refrigerate the item position, improving the matching degree between the fan operation control and the item distribution space, reducing the operation energy consumption of the refrigeration unit in the space, and improving the refrigeration efficiency.

[0037] In a possible implementation manner, obtaining the item position of the target item stored in the target space and the fan position includes: receiving a plane map of the target space sent by an automatic guided transportation device, where the automatic guided transportation device is used to perform a scanning operation on the target space when transporting the target item to the item position; and obtaining the item position and the fan position from the plane map.

[0038] In this embodiment, the automatic guided transportation device may include: an AGV. When the AGV is performing a task (such as transporting goods), the mapping mode is simultaneously enabled. The AGV is usually equipped with a lidar for real-time acquisition of the surrounding 2D contour. A camera (RGB / depth) for identifying specific objects or QR code markers. An IMU / encoder for calculating pose changes (the core assistance of SLAM). A SLAM algorithm module for performing real-time positioning, real-time mapping, etc. during movement.

[0039] The AGV can scan the target space in real time and output a two-dimensional grid map or point cloud map of the target space. After the map construction is completed, the map data packet is sent to the central management system through a wireless network. The central management system listens to a specific network port or API interface to receive the SLAM mapping results from the AGV. Decode and visualize the planar map, and generate a computable two-dimensional coordinate matrix or point cloud list after deserializing the map data. Each point in the map represents a cell (wall / empty space / object) in the space. The AGV or camera uses image recognition / QR code scanning to identify the types and labels of goods. Label the coordinates of the goods with "goods" and include them in the map data. The management system retrieves the set of coordinates marked as "goods" and extracts the location information of all items.

[0040] Method for extracting the position of the fan: The position of the fan in the cold storage is fixed and known, and is usually pre-configured in the system through initial calibration. The management system maps and merges these "static points" into the current map through spatial coordinate alignment. If the fan is recognizable (sticker QR code, visual feature), the AGV can also actively identify and upload its position during scanning.

[0041] Therefore, by receiving the planar map of the target space collected and sent by the automatic guided transport equipment during the transportation process, the spatial perception can be realized by using its scanning ability during autonomous navigation. The control system can extract key position data (the position of the target item and the position of the fan) from the map, avoid additional deployment of sensors, realize low-cost and high-real-time environment mapping and target recognition, and improve the environmental adaptability and task execution efficiency.

[0042] In a possible implementation manner, the refrigeration strategy of each fan is determined according to the refrigeration core area and the position of the fan, including: dividing the fans into the first fans in the refrigeration core area and the second fans outside the refrigeration core area according to the position of each fan; judging whether there is a first fan in the refrigeration core area to obtain a judgment result; obtaining the distance between each second fan and the refrigeration core area; determining the refrigeration priority corresponding to each second fan according to the distance; determining the refrigeration strategy of each fan according to the judgment result and the refrigeration priority.

[0043] In this embodiment, the first fan is a fan located within the refrigeration core area; the second fan is a fan located outside the refrigeration core area. Traverse the position coordinates of each fan to determine whether it falls within the boundary of the refrigeration core area. If it is within the area, add it to the "first fan list"; if it is not within the area, add it to the "second fan list". Calculate the Euclidean distance of each second fan to the nearest boundary of the refrigeration core area. If the refrigeration core area is an ellipse / polygon: it can be approximated as calculating the distance from the fan to the center point of the area. For the second fans, the closer the calculated distance is, the higher the refrigeration priority. Sort all the second fans in ascending order of distance; assign priorities to them, and the nearest one has priority 1 (second only to the first fan in the refrigeration core area). Furthermore, different control strategies are adopted according to the existence of the first fan: if there is a first fan, set the first fan to be always on / master control fan, operate at high air volume and high frequency, and blow directly to the core area; adjust the operation of the second fans according to their priorities; if there is no first fan, select the one with the closest distance from the second fans as the master control fan (priority = 1) and set it as "temporary master control", operate at high frequency, and the other fans participate in auxiliary adjustment.

[0044] Thus, by regionally dividing the fans according to their positions, the structured management of the fan's action range can be achieved. On this basis, the system determines whether there is a first fan in the core area, and combines the distance between the second fan and the refrigeration core area to calculate its refrigeration priority, which can realize the dynamic formulation of the fan's refrigeration strategy based on the spatial layout and heat load requirements, achieve refined energy efficiency control for key areas, thereby improving the refrigeration effect and reducing energy consumption.

[0045] In a possible implementation manner, the refrigeration strategy of each fan is determined according to the judgment result and the refrigeration priority, including: when the judgment result is that there is a first fan in the refrigeration core area, the refrigeration strategy is determined as: control the first fan to turn on and maintain the refrigeration operation state. After running for a preset duration, determine the difference between the temperature of the refrigeration core area and the target temperature, determine the number of second fans to be turned on according to the difference, and control the number of second fans to turn on according to the refrigeration priority; when the judgment result is that there is no first fan in the refrigeration core area, the refrigeration strategy is determined as: control a preset number of second fans to turn on according to the refrigeration priority. After running for a preset duration, if the temperature of the refrigeration core area is still lower than the target temperature, then control the preset number to increase.

[0046] In this embodiment, if there is a first fan sending an instruction to its controller to control the first fan to be turned on, the operating mode is high air volume, the wind direction mode is inward circulation, the frequency is the set value, and the operating time threshold is set, etc. After each operation cycle, obtain the real-time temperature of the refrigeration core area (uploaded by the temperature sensor or environmental sensor), obtain the target temperature (such as 0 °C), calculate the temperature difference, and determine the number of fans to be turned on by looking up the table according to the temperature difference range. The temperature difference and the number are positively correlated.

[0047] Sort the second fans in ascending order according to their distances from the refrigeration core area (the closer, the higher the priority); select the determined number of second fans in order of priority, send an on instruction to the controllers of the selected second fans, and set the mode to "auxiliary refrigeration" with a moderate operating frequency.

[0048] If there is no first fan, start the second fan to replace it according to the priority. Initially, set N (such as 2) second fans with the highest priority to be turned on; after each round of operation cycle, check the temperature difference: if the temperature does not drop below the target temperature, continue to add the next priority fan; use the incremental strategy to control the number of fans added; repeat the judgment until the temperature difference is satisfied or reaches the maximum allowable number of fans to be turned on. The entire policy execution cycle can be scheduled and run regularly by the temperature control scheduling module of the cold storage management system, and automatically adapt to changes in combination with the data uploaded by the AGV and the status of the environmental monitoring system.

[0049] In this embodiment, by judging whether there is a first fan in the refrigeration core area and dynamically selecting different refrigeration control strategies, an adaptive refrigeration strategy that is phased and incremented as needed can be realized according to the fan spatial distribution, real-time temperature feedback, and refrigeration priority, improving the refrigeration efficiency and avoiding resource waste.

[0050] In a possible implementation manner, the method further includes: obtaining the current humidity of the refrigeration core area, and obtaining the item type of the target item; determining the target humidity range corresponding to the item type; and adjusting the running fans according to the current humidity and the target humidity range.

[0051] In this embodiment, a plurality of humidity sensors are arranged in the refrigeration core area, and these sensors continuously monitor the humidity value in the air; the sensors regularly collect humidity data and upload the data to the system through wireless or wired networks. The system performs fusion processing on the data of multiple sensors, such as taking the average value or weighted average, to obtain the comprehensive humidity level of the area as the representative value of the current humidity. Use methods such as AGV scanning, barcode recognition, RFID reading, or database query to identify the item type information of the target items stored in the cold storage; transfer the item type information to the system for subsequent humidity control decisions.

[0052] The system has a pre-set corresponding table of item types and suitable storage humidity ranges built-in or called from an external database; according to the item type currently being managed, the ideal upper and lower humidity limits for this type of item are queried, and the system compares the current humidity in the core area with the target humidity range: If the current humidity is higher than the upper limit of the target range, it means the environment is too humid and ventilation needs to be strengthened or the humidity needs to be reduced; if the current humidity is lower than the lower limit of the target range, it means the environment is too dry and ventilation needs to be appropriately reduced or the cold air parameters need to be adjusted to avoid excessive dryness; according to the humidity difference, the management system dynamically adjusts the parameters of the running fans, and the adjustment strategy also takes into account temperature control to ensure that the temperature and humidity reach the ideal storage conditions in coordination.

[0053] The adjustment of the running fans according to the current humidity and the target humidity range includes: when the current humidity is greater than the target humidity range, controlling the wind speed of the running fans to increase, and / or, controlling the air outlet angle of the running fans to be consistent with the position of the target item, and / or, increasing the number of running fans; when the current humidity is less than the target humidity range, controlling the wind speed of the running fans to decrease, and / or, controlling the air outlet angle of the running fans to deviate from the position of the target item, and / or, reducing the number of running fans.

[0054] Specifically, when the current humidity is greater than the target humidity range, control the currently running fans to increase their rotation speed, thereby increasing the air supply volume, promoting air circulation, and helping to reduce the humidity. Adjust the air outlet angle of the fans to be consistent with the position of the target item to enhance the direct blowing of cold air towards the storage goods area and quickly reduce the humidity there. Start more eligible fans (such as fans with higher priority) to expand the refrigeration coverage area and improve the humidity adjustment efficiency. When the current humidity is less than the target humidity range, control the running fans to reduce their rotation speed, reduce the air supply volume, and prevent excessive dryness. Deviate the air outlet angle of the fans from the position of the target item to reduce direct blowing and avoid accelerating water evaporation. Shut down some of the running fans to reduce the cold air volume and slow down the humidity reduction speed. Continuously monitor and adjust to ensure that the humidity is maintained within the target range.

[0055] In a possible implementation, when there are multiple refrigeration core areas, the refrigeration strategy is determined as: controlling the first fans in each refrigeration core area to be turned on and maintain the refrigeration operation state, and determining the refrigeration demand of each refrigeration core area according to the volume of the target items in each refrigeration core area, and determining the number of second fans to be turned on and the air outlet direction according to the refrigeration demand and / or the distance between each second fan and each refrigeration core area.

[0056] In this embodiment, for each refrigeration core area, all the first fans therein (i.e., the fans located within the core area) are identified; a control instruction is sent to ensure that all the first fans are turned on and maintain a continuous refrigeration operation state to ensure the basic refrigeration demand of the core area.

[0057] Calculate the refrigeration demand based on the total volume or weight of the target items stored in the refrigeration core area (the available volume multiplied by the preset unit refrigeration demand parameter); the demand reflects the refrigeration intensity required for this area, and the larger the value, the higher the demand. Calculate the distance from each second fan to the geometric center or representative point of each refrigeration core area; the second fan closer to the core area has a greater potential for refrigeration contribution to this core area. Determine the number of second fans that need to be started corresponding to each core area according to the refrigeration demand of each core area; preferentially select the nearest and idle second fan to turn on; for each enabled second fan, adjust the air outlet direction to ensure that the air flow direction points to the corresponding refrigeration core area to achieve directional air supply; if a second fan is close to multiple core areas, the air flow direction can be allocated based on the priority or demand, or the air flow direction switching control can be performed. The above steps are executed cyclically to dynamically adjust the operating states and parameters of the first fans and second fans in each core area; with the changes in goods and environmental feedback, the demand and fan control strategy are updated in real time to ensure the balanced and efficient refrigeration of multiple core areas.

[0058] Figure 2 The flowchart of another fan control method provided by an embodiment of the present invention is shown as Figure 2 shown, and the method specifically includes: The system starts up and is ready for cargo transfer and environmental scanning. The automatic guided vehicle (AGV) transports the goods to the corresponding location in the warehouse according to the target location specified by the user. During the movement, the AGV uses lidar or sensors to scan the internal environment of the cold storage, collects spatial data and uploads it to the management control system. The management system uses the simultaneous localization and mapping (SLAM) algorithm to convert the scanned data into a planar map of the internal environment of the cold storage, marks the geometric center position inside the warehouse, the installation positions of the built-in fans, and the specific placement positions of the goods. The system uses the principal component analysis (PCA) algorithm to calculate the refrigeration core areas in the cold storage based on the positions of the goods, the positions of the fans, and the geometric center inside the warehouse, and evaluates the control priority of each fan accordingly. According to the above calculation results, the system controls the internal fans to preferentially ensure the cold air supply in the refrigeration core areas and dynamically adjust the operating states of the fans. The system monitors the status of the goods. If it is found that the type, position, or quantity of the goods changes, the AGV will rescan and make adjustments. If the goods do not change, the process continues to monitor and cyclically manage the environment and fan status. Thus, a closed-loop management of AGV automatic handling and environmental scanning, SLAM mapping, PCA analysis of the core refrigeration areas, fan priority evaluation, and dynamic control can be realized to ensure the intelligent optimized adjustment of the internal environment of the cold storage.

[0059] Figure 3 The structural schematic diagram of a fan control device provided by an embodiment of the present invention is as follows. As Figure 3 shown, the device specifically includes: An acquisition module 31, configured to acquire the item position and the fan position of a target item stored in a target space; A determination module 32, configured to determine a refrigeration core area of the target space according to the item position and the fan position; The determination module is further configured to determine a refrigeration strategy for each fan according to the refrigeration core area and the fan position; A control module 33, configured to control each fan to perform a refrigeration operation on the target space according to the refrigeration strategy.

[0060] In a possible implementation manner, the acquisition module is specifically configured to receive a plane map in the target space sent by an automatic guided transportation device, where the automatic guided transportation device is configured to perform a scanning operation on the target space when transporting the target item to the item position; Acquire the item position and the fan position from the plane map.

[0061] In a possible implementation manner, the determination module is specifically configured to divide the fans into first fans within the refrigeration core area and second fans outside the refrigeration core area according to each fan position; Judge whether there is a first fan in the refrigeration core area to obtain a judgment result; Acquire the distance between each second fan and the refrigeration core area; Determine the refrigeration priority corresponding to each second fan according to the distance; Determine the refrigeration strategy for each fan according to the judgment result and the refrigeration priority.

[0062] In a possible implementation manner, when the judgment result is that there is a first fan in the refrigeration core area, the determination module is specifically configured to determine the refrigeration strategy as: controlling the first fan to turn on and maintain a refrigeration operation state, after running for a preset duration each time, determining the difference between the temperature of the refrigeration core area and the target temperature, determining the number of second fans to be turned on according to the difference, and controlling the number of second fans to turn on according to the refrigeration priority; When the judgment result is that there is no first fan in the refrigeration core area, the determination module is specifically configured to determine the refrigeration strategy as: controlling a preset number of the second fans to turn on according to the refrigeration priority, and if the temperature of the refrigeration core area is still lower than the target temperature after running for a preset duration each time, controlling the preset number to increase.

[0063] In a possible implementation, the obtaining module is further configured to obtain the current humidity of the refrigeration core area and the type of the target item. The determining module is further configured to determine a target humidity range corresponding to the item type. Adjust the operating fan according to the current humidity and the target humidity range.

[0064] In a possible implementation, the control module is further configured to, when the current humidity is greater than the target humidity range, control the operating fan to increase the wind speed, and / or control the air outlet angle of the operating fan to be consistent with the position of the target item, and / or increase the number of operating fans; When the current humidity is less than the target humidity range, control the operating fan to reduce the wind speed, and / or control the air outlet angle of the operating fan to deviate from the position of the target item, and / or reduce the number of operating fans.

[0065] In a possible implementation, when there are multiple refrigeration core areas, the determining module is further configured to determine the refrigeration strategy as: controlling the first fan in each refrigeration core area to be turned on and maintain the refrigeration operation state, and determining the refrigeration demand of each refrigeration core area according to the volume of the target item in each refrigeration core area, and determining the number of second fans to be turned on and the air outlet direction according to the refrigeration demand and / or the distance between each second fan and each refrigeration core area.

[0066] The fan control device provided in this embodiment may be a device as shown in Figure 3 and can execute all steps of the fan control method as shown in Figures 1 - 2 to achieve the technical effects of the fan control method shown in Figures 1 - 2 . For specific reference, please refer to Figures 1 - 2 the relevant description. For the sake of brevity, it will not be elaborated here.

[0067] Figure 4 FIG. Figure 4 shows a schematic structural diagram of a refrigeration unit provided in an embodiment of the present invention. The refrigeration unit 400 shown includes at least one processor 401, a memory 402, at least one network interface 404, and other user interfaces 403. Each component in the refrigeration unit 400 is coupled together through a bus system 405. It can be understood that the bus system 405 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 405 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clear illustration, inFigure 4 All kinds of buses are labeled as bus system 405.

[0068] Among them, the user interface 403 may include a display, a keyboard, or a pointing device (such as a mouse, a trackball, a touchpad, or a touch screen, etc.).

[0069] It can be understood that the memory 402 in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synch link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM). The memory 402 described herein is intended to include but not be limited to these and any other suitable types of memory.

[0070] In some embodiments, the memory 402 stores the following elements, executable units, or data structures, or subsets thereof, or extended sets thereof: an operating system 4021 and application programs 4022.

[0071] Among them, the operating system 4021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application programs 4022 include various application programs, such as a media player and a browser, etc., for implementing various application services. The program for implementing the method of the embodiments of the present invention may be included in the application programs 4022.

[0072] In an embodiment of the present invention, by invoking the program or instruction stored in the memory 402, specifically, it may be the program or instruction stored in the application program 4022, the processor 401 is used to execute the method steps provided in each method embodiment, for example, including: Obtain the item position and the fan position of the target item stored in the target space; Determine the refrigeration core area of the target space according to the item position and the fan position; Determine the refrigeration strategy of each fan according to the refrigeration core area and the fan position; Control each fan to perform a refrigeration operation on the target space according to the refrigeration strategy; The determining the refrigeration strategy of each fan according to the refrigeration core area and the fan position includes: Divide the fans into first fans within the refrigeration core area and second fans outside the refrigeration core area according to each fan position; Judge whether there is a first fan in the refrigeration core area to obtain a judgment result; Obtain the distance between each second fan and the refrigeration core area; Determine the refrigeration priority corresponding to each second fan according to the distance; Determine the refrigeration strategy of each fan according to the judgment result and the refrigeration priority.

[0073] In a possible implementation manner, receive the plane map in the target space sent by the automatic guided transportation device, and the automatic guided transportation device is used to perform a scanning operation on the target space when transporting the target item to the item position; Obtain the item position and the fan position from the plane map.

[0074] In a possible implementation manner, when the judgment result is that there is a first fan in the refrigeration core area, determine the refrigeration strategy as: control the first fan to turn on and maintain the refrigeration operation state, after running for a preset duration each time, determine the difference between the temperature in the refrigeration core area and the target temperature, determine the number of second fans to be turned on according to the difference, and control the number of second fans to turn on according to the refrigeration priority; When the judgment result is that there is no first fan in the refrigeration core area, determine the refrigeration strategy as: control a preset number of the second fans to turn on according to the refrigeration priority, and if the temperature in the refrigeration core area is still lower than the target temperature after running for a preset duration each time, then control the preset number to increase.

[0075] In a possible implementation, obtain the current humidity of the refrigeration core area and the type of the target item; Determine the target humidity range corresponding to the item type; Adjust the operating fan according to the current humidity and the target humidity range.

[0076] In a possible implementation, when the current humidity is greater than the target humidity range, control the operating fan to increase the wind speed, and / or control the air outlet angle of the operating fan to be consistent with the position of the target item, and / or increase the number of operating fans; When the current humidity is less than the target humidity range, control the operating fan to reduce the wind speed, and / or control the air outlet angle of the operating fan to deviate from the position of the target item, and / or reduce the number of operating fans.

[0077] In a possible implementation, when there are multiple refrigeration core areas, determine the refrigeration strategy as: control the first fan in each refrigeration core area to be turned on and maintain the refrigeration operating state, and determine the refrigeration demand of each refrigeration core area according to the volume of the target item in each refrigeration core area. According to the refrigeration demand, and / or the distance between each second fan and each refrigeration core area, determine the number of second fans to be turned on and the air outlet direction.

[0078] The method disclosed in the embodiments of the present invention above can be applied to the processor 401 or implemented by the processor 401. The processor 401 may be an integrated circuit chip with signal processing capabilities. During implementation, the steps of the above method can be completed by the integrated logic circuit in hardware or instructions in software form in the processor 401. The above-mentioned processor 401 may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software units in the decoding processor. The software units may be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers, etc. This storage medium is located in the memory 402, and the processor 401 reads the information in the memory 402 and combines its hardware to complete the steps of the above method.

[0079] It can be understood that these embodiments described herein can be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in this application, or a combination thereof.

[0080] For software implementation, the technologies described herein can be implemented by units that execute the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented inside or outside the processor.

[0081] The refrigeration unit provided in this embodiment can be a device as shown in Figure 4 and can execute all steps of the fan control method as shown in Figures 1 - 2 , thereby achieving the technical effects of the fan control method shown in Figures 1 - 2 . For specific details, please refer to Figures 1 - 2 the relevant description. For the sake of brevity, it will not be elaborated here.

[0082] An embodiment of the present invention also provides a storage medium (computer-readable storage medium). One or more programs are stored in this storage medium. Among them, the storage medium can include volatile memory, such as random access memory; the memory can also include non-volatile memory, such as read-only memory, flash memory, hard disk or solid-state drive; the memory can also include a combination of the above types of memory.

[0083] When one or more programs in the storage medium can be executed by one or more processors to implement the above-mentioned fan control method executed on the device side.

[0084] The processor is used to execute the fan control program stored in the memory to implement the following steps of the fan control method executed on the device side: Obtain the item position of the target item stored in the target space and the fan position; Determine the refrigeration core area of the target space according to the item position and the fan position; Determine the refrigeration strategy of each fan according to the refrigeration core area and the fan position; Control each fan to perform a refrigeration operation on the target space according to the refrigeration strategy; The determining the refrigeration strategy of each fan according to the refrigeration core area and the fan position includes: Divide the fans into first fans within the refrigeration core area and second fans outside the refrigeration core area according to each fan position; Judge whether there is a first fan in the refrigeration core area to obtain a judgment result; Obtain the distance between each second fan and the refrigeration core area; Determine the refrigeration priority corresponding to each second fan according to the distance; Determine the refrigeration strategy of each fan according to the judgment result and the refrigeration priority.

[0085] In a possible implementation manner, receive the plane map of the target space sent by the automatic guided transportation device, and the automatic guided transportation device is used to scan the target space when transporting the target item to the item position; Obtain the positions of the articles and the positions of the air blowers from the planar map.

[0086] In a possible implementation, when the judgment result is that there is a first air blower in the refrigeration core area, determine the refrigeration strategy as: controlling the first air blower to turn on and maintain the refrigeration operation state. After operating for a preset duration each time, determine the difference between the temperature in the refrigeration core area and the target temperature, determine the number of second air blowers to be turned on according to the difference, and control the number of second air blowers to turn on according to the refrigeration priority. When the judgment result is that there is no first air blower in the refrigeration core area, determine the refrigeration strategy as: controlling a preset number of the second air blowers to turn on according to the refrigeration priority. If the temperature in the refrigeration core area is still lower than the target temperature after operating for a preset duration each time, then control the preset number to increase.

[0087] In a possible implementation, obtain the current humidity in the refrigeration core area and the type of the target article. Determine the target humidity range corresponding to the article type. Adjust the air blowers that are running according to the current humidity and the target humidity range.

[0088] In a possible implementation, when the current humidity is greater than the target humidity range, control the wind speed of the air blowers that are running to increase, and / or control the air outlet angle of the air blowers that are running to be consistent with the position where the target article is located, and / or increase the number of the air blowers that are running. When the current humidity is less than the target humidity range, control the wind speed of the air blowers that are running to decrease, and / or control the air outlet angle of the air blowers that are running to deviate from the position where the target article is located, and / or reduce the number of the air blowers that are running.

[0089] In a possible implementation, when there are multiple refrigeration core areas, determine the refrigeration strategy as: controlling the first air blower in each refrigeration core area to turn on and maintain the refrigeration operation state, and determining the refrigeration demand of each refrigeration core area according to the volume of the target article in each refrigeration core area. According to the refrigeration demand and / or the distance between each second air blower and each refrigeration core area, determine the number of second air blowers to be turned on and the air outlet direction.

[0090] Those skilled in the art should further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0091] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0092] The specific embodiments described above have further elaborated on the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A fan control method, characterized in that, Including: Obtain the item position and the fan position of the target item stored in the target space; Determine the refrigeration core area of the target space according to the item position and the fan position; Determine the refrigeration strategy of each fan according to the refrigeration core area and the fan position; Control each fan to perform a refrigeration operation on the target space according to the refrigeration strategy; The determining the refrigeration strategy of each fan according to the refrigeration core area and the fan position includes: Divide the fans into first fans within the refrigeration core area and second fans outside the refrigeration core area according to each fan position; Judge whether there is a first fan in the refrigeration core area to obtain a judgment result; Obtain the distance between each second fan and the refrigeration core area; Determine the refrigeration priority corresponding to each second fan according to the distance; Determine the refrigeration strategy of each fan according to the judgment result and the refrigeration priority.

2. The method according to claim 1, characterized in that, The obtaining the item position and the fan position of the target item stored in the target space includes: Receive the plane map in the target space sent by the automatic guided transport device, and the automatic guided transport device is used to scan the target space when transporting the target item to the item position; Obtain the item position and the fan position from the plane map.

3. The method according to claim 1, wherein The determining the refrigeration strategy of each fan according to the judgment result and the refrigeration priority includes: When the judgment result is that there is a first fan in the refrigeration core area, determine the refrigeration strategy as: control the first fan to turn on and maintain the refrigeration operation state. After running for a preset time, determine the difference between the temperature of the refrigeration core area and the target temperature, determine the number of second fans to be turned on according to the difference, and control the number of second fans to turn on according to the refrigeration priority; When the judgment result is that there is no first fan in the refrigeration core area, determine the refrigeration strategy as: control a preset number of the second fans to turn on according to the refrigeration priority. After running for a preset time, if the temperature of the refrigeration core area is still lower than the target temperature, control the preset number to increase.

4. The method according to claim 1, characterized in that, The method further includes: Obtain the current humidity of the refrigeration core area and obtain the item type of the target item; Determine the target humidity range corresponding to the item type; Adjust the fans that are running according to the current humidity and the target humidity range.

5. The method according to claim 4, wherein The adjusting the fans that are running according to the current humidity and the target humidity range includes: When the current humidity is greater than the target humidity range, control the wind speed of the fans that are running to increase, and / or, control the air outlet angle of the fans that are running to be consistent with the position where the target item is located, and / or, increase the number of the fans that are running; When the current humidity is less than the target humidity range, control the wind speed of the operating fan to decrease, and / or control the air outlet angle of the operating fan to deviate from the position of the target item, and / or reduce the number of operating fans.

6. The method according to claim 3, characterized in that The method further includes: When there are multiple refrigeration core areas, determine the refrigeration strategy as: control the first fan in each refrigeration core area to turn on and maintain the refrigeration operation state, and determine the refrigeration demand of each refrigeration core area according to the volume of the target item in each refrigeration core area. According to the refrigeration demand, and / or the distance between each second fan and each refrigeration core area, determine the number of second fans to be turned on and the air outlet direction.

7. A fan control device, characterized in that, It includes: An acquisition module, configured to acquire the item position and the fan position of the target item stored in the target space; A determination module, configured to determine the refrigeration core area of the target space according to the item position and the fan position; The determination module is further configured to determine the refrigeration strategy of each fan according to the refrigeration core area and the fan position; A control module, configured to control each fan to perform a refrigeration operation on the target space according to the refrigeration strategy; Determining the refrigeration strategy of each fan according to the refrigeration core area and the fan position includes: Dividing the fans into first fans within the refrigeration core area and second fans outside the refrigeration core area according to each fan position; Judge whether there is a first fan in the refrigeration core area to obtain a judgment result; Obtain the distance between each second fan and the refrigeration core area; Determine the refrigeration priority corresponding to each second fan according to the distance; Determine the refrigeration strategy of each fan according to the judgment result and the refrigeration priority.

8. A refrigeration unit, characterized in that, It includes: A processor and a memory, where the processor is configured to execute the fan control program stored in the memory to implement the fan control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the fan control method according to any one of claims 1 to 6.

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