Material management method and system for turnover bin and intelligent terminal

Abstract

The invention relates to a material management method and system of a turnover bin and an intelligent terminal, and relates to the technical field of powder material grading equipment. Controlling a beating device to beat the outer wall of the turnover bin based on the management position point to obtain sound detection information; determining material level information and a material reference interval according to the management position point; determining a material height value according to the sound detection information and the material level information; determining and storing management position result information according to the material height value and the management position point; judging whether the material height value is within the material reference interval or not; if yes, a preset bin changing device is controlled to change the turnover bin; if not, selecting a target position point according to the management position point; and taking the target position point as a next management position point and controlling a preset beating device to move to the management position point. The method has the effect of improving the detection accuracy of the material quantity condition of the turnover bin.

Description

Technical Field

[0001] The present invention relates to the technical field of powder material grading equipment, and in particular to a material management method, system and intelligent terminal for a turnover warehouse. Background Art

[0002] Powder material classification equipment refers to mechanical equipment that uses specific principles and devices to classify particle groups into two or more particle size grades based on the differences in particle size, density, shape or surface physical and chemical properties of solid particles in the same medium and their different settling velocities.

[0003] The airflow classifier is a common powder material grading equipment, which mainly uses air as the medium to classify the powder through centrifugal force field, inertial force field, etc. The airflow classifier includes a drive motor for providing power, a grading host for grading, and a turnover bin. The turnover bin is connected to each outlet of the grading host after grading. The turnover bin is used to collect materials and temporarily store them. In the production process of the airflow classifier, it is necessary to manage the amount of materials in the turnover bin to improve production efficiency and product quality. At present, the operator generally knocks on the outer wall of the turnover bin, and the operator judges whether the amount of materials in the turnover bin has reached a full state based on the sound made by knocking on the turnover bin.

[0004] At present, the amount of materials in the turnover warehouse is generally judged by manually knocking on the outer wall of the turnover warehouse and based on the sound. Different operators have different sensitivities to sound and different judgment bases, which makes it easy to misjudge the amount of materials in the turnover warehouse, resulting in overflow of materials in the turnover warehouse and loss, increasing the loss of production costs. Summary of the Invention

[0005] In order to improve the accuracy of detecting the material quantity of a turnover warehouse, the present invention provides a material management method, system and intelligent terminal for a turnover warehouse.

[0006] In a first aspect, the present invention provides a material management method for a turnover warehouse, which adopts the following technical solution:

[0007] A material management method for a turnover warehouse, comprising:

[0008] Get management location points;

[0009] Based on the management location point, the preset knocking device is controlled to knock on the outer wall of the turnover warehouse to obtain sound detection information;

[0010] Determine material level information and material benchmark intervals based on management location points;

[0011] Determine the material height value based on the sound detection information and material level information;

[0012] Determine the management position result information based on the material height value and the management position point and store it;

[0013] Determine whether the material height value is within the material reference range;

[0014] If yes, the preset bin-changing device is controlled to change the turnover bin;

[0015] If not, select the target location point based on the management location point;

[0016] The target position point is taken as the next management position point and the preset knocking device is controlled to move to the management position point.

[0017] Optionally, controlling a preset bin-changing device to change bins in the turnover bin includes:

[0018] Retrieve warehouse specification information based on management location points;

[0019] Determine the silo lowering height, maximum silo material capacity, and silo change distance based on silo specifications;

[0020] Calculate the difference between the maximum value of the silo material and the material height value and use it as the allowable value for silo change;

[0021] Determine the bin change descending time value based on the bin change allowance and material level information;

[0022] Determine the tilt amplitude value based on the warehouse body's descending height value and the warehouse change distance value;

[0023] Determine the shifting time value based on the shifting distance value;

[0024] Based on the warehouse change descending time value, the preset warehouse change device is controlled to move the turnover warehouse at the management position downward;

[0025] Based on the tilt amplitude value, the material receiving plate in the preset bin changing device is controlled to tilt, and based on the bin changing movement time value, the preset bin changing device is controlled to simultaneously move the turnover bin at the management position point and the replaced empty turnover bin;

[0026] Based on the warehouse changing descending time value, the preset warehouse changing device is controlled to move the replaced empty turnover warehouse upward.

[0027] Optionally, the method further includes the following steps after the receiving plate in the bin changing device is tilted based on the tilt amplitude value:

[0028] Obtain wind force detection information on the splicing plate;

[0029] Retrieving wind force detection value and wind force direction information based on wind force detection information;

[0030] Analyze the deviation angle between the wind direction information and the preset material connection reference direction information and use it as the wind direction deviation angle value;

[0031] Determine the tilt angle adjustment value according to the wind direction deviation angle value;

[0032] Determine the adjustment demand time value according to the wind force detection value;

[0033] Calculate the quotient between the tilt angle adjustment value and the adjustment required time value and use it as the angle adjustment speed value;

[0034] Based on the tilt angle adjustment value and the angle adjustment speed value, the receiving plate in the preset bin changing device is controlled to adjust the tilt direction.

[0035] Optionally, the method further includes the following steps before the preset bin changing device is controlled based on the bin changing descending time value to move the replaced empty turnover bin upwards:

[0036] Obtain the weight detection value of the replaced empty turnover bin;

[0037] Determine the level unloading benchmark speed value based on the material level information;

[0038] Determine the weight estimation range based on the level unloading benchmark speed value and the bin change movement time value;

[0039] Determine whether the weight detection value is within the weight estimation range;

[0040] If yes, the process jumps to execute the preset bin changing device based on the bin changing descending time value to move the replaced empty turnover bin upwards;

[0041] If not, the difference between the weight detection value and the weight estimation value is calculated and used as the weight deviation value;

[0042] Determine the initial weight jitter value according to the weight deviation value;

[0043] Determine the jitter tilt impact value according to the tilt amplitude value;

[0044] The product value between the initial weight jitter value and the jitter tilt influence value is calculated and used as the weight jitter adjustment value, and the jitter device preset on the material receiving plate is controlled to jitter based on the weight jitter adjustment value.

[0045] Optionally, methods for determining the material height value include:

[0046] Determine the knocking position according to the warehouse specifications;

[0047] Determine the sound position reference information according to the striking position point;

[0048] Determine sound level impact information based on material level information;

[0049] Combining the sound position reference information with the sound level impact information to obtain the sound comprehensive reference information;

[0050] The material height value is determined by matching the sound detection information with the sound comprehensive reference information.

[0051] Optionally, methods for selecting target locations include:

[0052] Retrieve the remaining location points based on the management location point;

[0053] Calculate the distance between the management location point and the remaining location points as the distance value;

[0054] Sort the distance values from small to large to get the distance sequence number;

[0055] Retrieve the knock detection time point and knock detection result value based on the remaining position points;

[0056] Determine the knocking time difference according to two adjacent knocking detection time points;

[0057] Determine the knocking height difference based on the values of two adjacent knocking detection results;

[0058] Determine the estimated feeding speed value based on the knocking time difference and the knocking height difference;

[0059] Calculate the estimated time value for the most recent material height value to reach the material reference interval based on the estimated feed speed value;

[0060] Sort the estimated time values from small to large to get the time sequence number;

[0061] The sum of the distance sequence number and the time sequence number is calculated and used as the comprehensive sequence number. The remaining position point corresponding to the smallest comprehensive sequence number is selected as the target position point.

[0062] Optionally, the method further includes the following steps after selecting the remaining position point corresponding to the smallest comprehensive sequence number as the target position point:

[0063] Define the time sequence number of the target location point as the time target sequence number. When the time target sequence number is not the first sequence number, select the risk location point based on the time target sequence number, define the distance value corresponding to the target location point as the forward distance value, and define the estimated time value corresponding to the risk location point as the risk location time value.

[0064] Calculate the distance between the target location point and the risk location point and use it as the relative distance value;

[0065] Calculate the sum of the forward distance value and the relative distance value as the risk distance value;

[0066] Determine the detection risk time value based on the risk distance value and the preset maximum speed value;

[0067] Determine whether the detection risk time value is greater than the risk location time value;

[0068] If yes, continue to output the target position point;

[0069] If not, the target location point is replaced based on the risk location point.

[0070] Optionally, the method further includes the following steps after taking the target location as the next management location and controlling a preset striking device to move to the management location:

[0071] Obtaining the obstacle information and current position in front of the preset striking device;

[0072] Determine the turning direction of the striking device to avoid obstacles based on obstacle information;

[0073] Determine whether there are any remaining position points in the turning direction;

[0074] If not, proceed according to the original target position;

[0075] If yes, the remaining position points in the turning direction are taken as the en route position points, and the estimated time value corresponding to the target position point is taken as the target position required time value;

[0076] Calculate the distance between the en route location and the current location and use it as the en route distance value;

[0077] Determine the time spent on the way according to the distance value on the way and the preset maximum speed value;

[0078] Determine whether the time spent on the way is greater than the time required for the target location;

[0079] If yes, continue moving;

[0080] If not, the target location point will be replaced by the en route location point and the movement will continue.

[0081] In a second aspect, the present invention provides a material management system for a turnover warehouse, which adopts the following technical solution:

[0082] A material management system for a turnover warehouse, comprising:

[0083] The acquisition module is used to obtain the management location point, sound detection information, wind detection information, weight detection value, obstacle information and current location point;

[0084] A memory, configured to store a material management method for a turnover warehouse as described in any one of the first aspects;

[0085] The processor loads and executes the program in the memory.

[0086] In a third aspect, the present invention provides an intelligent terminal, which adopts the following technical solution:

[0087] An intelligent terminal includes a memory and a processor, wherein the memory stores a computer program and can be loaded by the processor to execute a material management method for a turnover warehouse as described in any one of the first aspects.

[0088] In summary, the present invention includes at least one of the following beneficial technical effects:

[0089] 1. Acquire the management position point and control the knocking device to knock on the outer wall of the turnover warehouse to obtain sound detection information, determine the material level information and the material reference interval through the management position point, and determine the material height value through the sound detection information and the material level information, determine the management position result information through the material height value and the management position point and store it, and then judge whether the material height value is within the material reference interval. If it is, control the bin changing device to change the turnover warehouse. If it is not, select the target position point through the management position point, and then use the target position point as the next management position point and control the preset knocking device to move to the management position point, so as to automatically knock on the outer wall of the turnover warehouse and perform sound recognition to determine the material quantity in the warehouse, thereby improving the detection accuracy of the material quantity situation of the turnover warehouse;

[0090] 2. Retrieve the silo specification information through the management location point and determine the silo descent height value, the maximum value of the silo material, and the silo change distance value. Then calculate the silo change allowable value and determine the silo change descent time value with the material level information. Determine the tilt amplitude value based on the silo descent height value and the silo change distance value, and determine the silo change movement time value based on the silo change distance value. The tilt amplitude value and silo change movement time value are then used to control the silo change device to change silos, reducing material loss during silo change.

[0091] 3. Retrieve the remaining position points through the management position points and calculate the distance value to obtain the distance serial number. Retrieve the knocking detection time point and the knocking detection result value through the remaining position points and determine the knocking time difference and the knocking height difference respectively to determine the estimated feed speed value. Calculate the estimated time value to obtain the time serial number, calculate the comprehensive serial number and select the remaining position points corresponding to the smallest comprehensive serial number as the target position points, thereby improving the accuracy of the obtained target position points. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] Figure 1 This is a flow chart of a method for managing turnover warehouse materials according to an embodiment of the present application;

[0093] Figure 2This is a flow chart of a method for determining a method for controlling a preset bin changing device to change a turnover bin according to an embodiment of the present application;

[0094] Figure 3 This is a flow chart of a method for controlling the steps after tilting a receiving plate in a bin changing device based on a preset tilt amplitude value according to an embodiment of the present application;

[0095] Figure 4 This is a method flow chart of the steps before the replaced empty turnover bin is moved upward by controlling the preset bin-changing device based on the bin-changing descending time value in an embodiment of the present application;

[0096] Figure 5 is a flow chart of a method for determining a material height value in an embodiment of the present application;

[0097] Figure 6 This is a flow chart of a method for selecting a target location point according to an embodiment of the present application. DETAILED DESCRIPTION

[0098] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0099] A material management method for a turnover warehouse obtains a management position point, sound detection information, wind detection information, weight detection value, obstacle information and a current position point, thereby automatically selecting a management position point according to a knocking device and moving to the position to knock on the outer wall of the turnover warehouse to obtain sound detection information, and automatically analyzing the material quantity in the turnover warehouse based on the detected sound detection information. When the preset interval is reached, the turnover warehouse is replaced. If it is not reached, the knocking analysis is continued on another turnover warehouse, so there is no need to manually knock on the turnover warehouse and judge the material quantity, thereby improving the detection accuracy of the material quantity situation of the turnover warehouse.

[0100] Reference Figure 1 , an embodiment of the present invention discloses a material management method for a turnover warehouse, which includes:

[0101] Step S100: Acquire a management location point.

[0102] The management location point refers to the location at which the turnover bin needs to be managed at the current time. The management location point is obtained through pre-input by the operator. The management location point can also be defined and obtained by automatically detecting the location of the nearest turnover bin through a tapping device. The tapping device refers to a device used to tap the outer wall of the turnover bin. The tapping device includes a tapping member and a mobile trolley for moving the tapping member. The tapping member can be a robot arm holding a rod for tapping.

[0103] Step S101: Based on the management location point, a preset knocking device is controlled to knock on the outer wall of the turnover warehouse to obtain sound detection information.

[0104] Among them, the sound detection information refers to the sound information detected after the knocking device knocks on the outer wall of the turnover warehouse, and the sound detection information is detected and obtained through a sound sensor preset on the knocking device.

[0105] Step S102: Determine material level information and material reference interval according to the management location point.

[0106] Among them, material level information refers to the coarse and fine level information corresponding to the materials temporarily stored in the turnover warehouse at the management location, and the material reference interval refers to the reference height interval corresponding to when the materials temporarily stored in the turnover warehouse at the management location reach the required warehouse change operation. The preset level database is queried through the management location to obtain the material level information, and then the level database is queried through the material level information to obtain the material reference interval. The level database pre-stores a comparison table between different management locations and corresponding material level information, and the level database also pre-stores a comparison table between different material level information and corresponding material reference intervals. The level database is obtained after pre-input.

[0107] Step S103: determining the material height value according to the sound detection information and the material level information.

[0108] The material height value refers to the height value corresponding to the material temporarily stored in the turnover warehouse at the management location. By analyzing the sound detection information and the material level information, the material height value is determined to facilitate subsequent use. The specific steps for determining the material height value are shown in steps S500 to S504.

[0109] Step S104: determining and storing management location result information according to the material height value and the management location point.

[0110] Among them, the management location result information refers to the result information after detecting the material situation of the turnover warehouse at the management location point. The management location result information is obtained by combining the material height value with the management location point and stored for subsequent use.

[0111] Step S105: Determine whether the material height value is within the material reference range. If yes, proceed to step S106; if not, proceed to step S107.

[0112] Among them, by judging whether the material height value is within the material reference range, it is determined whether the turnover warehouse at the management location needs to be replaced.

[0113] Step S106: Control the preset bin changing device to change the turnover bin.

[0114] The bin-changing device is a device used to replace the turnover bin. It is pre-installed near each turnover bin to facilitate replacement. The bin-changing device includes a gripping manipulator for gripping and moving the turnover bin and a receiving plate for receiving the material continuously output by the air classifier.

[0115] When the material height value is within the material reference range, it indicates that the turnover bin at the management location needs to be replaced, so the preset bin changing device is controlled to replace the turnover bin.

[0116] Step S107: Select a target location point according to the management location point.

[0117] Among them, the target position point refers to the position point where the amount of materials temporarily stored in the next turnover warehouse needs to be detected. When the material height value is not within the material reference range, it means that the turnover warehouse at the management position point does not need to be replaced at this time. Therefore, the positions of the surrounding turnover warehouses are selected through the management position point and used as target position points for subsequent use.

[0118] Step S108: taking the target location as the next management location and controlling the preset knocking device to move to the management location.

[0119] Among them, by taking the target position point as the next management position point, the preset knocking device is controlled to move to the management position point, and then the knocking device is made to re-detect the amount of materials temporarily stored in the turnover warehouse at the management position point, so that there is no need to manually knock on the turnover warehouse and judge the amount of materials, thereby improving the accuracy of the detection of the material quantity situation in the turnover warehouse.

[0120] exist Figure 1 In step S106, in order to further ensure the rationality of controlling the preset bin-changing device to change the bins of the turnover bin, it is necessary to further analyze and calculate the bin-changing of the turnover bin by controlling the preset bin-changing device. Figure 2 The steps shown are explained in detail.

[0121] Reference Figure 2 , controlling the preset bin-changing device to change the turnover bin includes the following steps:

[0122] Step S200: Retrieve warehouse specification information based on the management location point.

[0123] Warehouse specifications refer to the warehouse's external dimensions and the spatial parameters for storing materials. Different management locations correspond to different warehouse specifications. The warehouse specifications are retrieved from a pre-configured database based on the management location. The database is pre-entered and contains a table comparing different management locations with their corresponding warehouse specifications.

[0124] Step S201: Determine the silo lowering height value, the maximum value of silo material and the silo changing distance value according to the silo specification information.

[0125] Among them, the warehouse body descent height value refers to the height value that needs to be controlled to lower the turnover warehouse when changing warehouses, the maximum value of warehouse body material refers to the maximum height value allowed for the turnover warehouse to store materials, and the warehouse change distance value refers to the minimum interval distance value between the turnover warehouse to be replaced and the turnover warehouse to be replaced.

[0126] The external dimensions and storage space size of the turnover bin to be replaced are retrieved from the bin specification information. The difference between the bin height and the preset installation position height is calculated and used as the bin lowering height value. The installation position height is obtained after pre-entry. The maximum storage height corresponding to the bin's storage space size is then used as the maximum bin material value. The sum of half the radius or width corresponding to the external dimensions of the two turnover bins is calculated and used as the bin replacement distance value, facilitating subsequent use.

[0127] Step S202: Calculate the difference between the maximum value of the material in the silo and the material height value and use it as the allowable value for silo change.

[0128] Among them, the allowable value for warehouse change refers to the height value corresponding to the turnover warehouse being allowed to continue receiving materials during the warehouse change process. The difference between the maximum value of the warehouse material and the material height value is calculated and used as the allowable value for warehouse change, which is convenient for subsequent use.

[0129] Step S203: Determine the bin change descending time value according to the bin change allowable value and the material level information.

[0130] The "bin change descent time" refers to the time allowed for descent during a bin change. The preset layer speed database is queried based on the material layer information to obtain the layer reference speed value. The layer speed database pre-stores a table of different material layer information and corresponding layer reference speed values. The layer reference speed value refers to the height of the material at that layer within the turnover bin per unit time. The quotient between the bin change allowable value and the layer reference speed value is then calculated and used as the bin change descent time value for subsequent use.

[0131] Step S204: determining the tilt amplitude value according to the warehouse body descending height value and the warehouse changing distance value.

[0132] Among them, the tilt amplitude value refers to the amplitude value used to control the tilt of the receiving plate. The ratio between the warehouse drop height value and the warehouse change distance value is calculated, and the ratio value is used as the tilt amplitude value for subsequent use.

[0133] Step S205: Determine the bin-changing moving time value according to the bin-changing distance value.

[0134] The "bin-change movement time" value refers to the time required for a bin-change operation. This value is calculated by dividing the bin-change distance by the preset lateral movement speed value, and the resulting quotient is used as the bin-change movement time value for subsequent use. The lateral movement speed value refers to the speed at which the manipulator of the bin-changing device controls the lateral movement of the two turnover bins during a bin change. This lateral movement speed value is obtained through pre-input.

[0135] Step S206: Based on the bin-changing descending time value, the preset bin-changing device is controlled to move the turnover bin at the management position point downward.

[0136] Among them, the turnover warehouse at the management position point is moved downward by the warehouse change descent time value by controlling the preset warehouse change device, thereby moving the turnover warehouse to the ground.

[0137] Step S207: Based on the tilt amplitude value, the material receiving plate in the preset bin changing device is controlled to tilt, and based on the bin changing movement time value, the preset bin changing device is controlled to simultaneously move the turnover bin at the management position point and the replaced empty turnover bin.

[0138] The replaced empty turnover bin refers to a turnover bin that does not temporarily store materials. By controlling the material receiving plate in the preset bin-changing device to tilt at an angle corresponding to the tilt amplitude value, the material continuously output by the airflow classifier is caught and dumped into the empty turnover bin. By controlling the preset bin-changing device to simultaneously move the turnover bin at the management location and the replaced empty turnover bin, until the moving time reaches the bin-changing moving time value, the replaced empty turnover bin is moved below the material output by the airflow classifier.

[0139] Step S208: Based on the bin-changing descending time value, the preset bin-changing device is controlled to move the replaced empty turnover bin upwards.

[0140] Among them, the replaced empty turnover bin is moved upward by controlling the preset bin changing device until the time corresponding to the bin changing descending time value is reached, and the replaced empty turnover bin is installed and fixed on the air flow classifier, thereby completing the bin changing operation.

[0141] exist Figure 2 After step S207 shown, in order to further ensure the rationality of the tilting of the receiving plate in the preset bin changing device based on the tilt amplitude value control, it is necessary to perform further separate analysis and calculation after the tilting of the receiving plate in the preset bin changing device based on the tilt amplitude value control. Specifically, Figure 3 The steps shown are explained in detail.

[0142] Reference Figure 3The steps after the receiving plate in the bin changing device is tilted based on the tilt amplitude value control preset include the following steps:

[0143] Step S300: Acquire wind force detection information on the splicing plate.

[0144] The wind force detection information refers to the wind force magnitude and wind force direction information corresponding to when the receiving plate in the bin changing device is affected by the wind force.

[0145] Step S301: Retrieve wind force detection value and wind force direction information based on wind force detection information.

[0146] The wind force detection information includes the wind force detection value and wind force direction information. The wind force detection value refers to the magnitude of the wind force acting on the splice plate, and the wind force direction information refers to the direction of the wind force acting on the splice plate. The wind force detection value and wind force direction information can be retrieved through the wind force detection information for subsequent use.

[0147] Step S302: Analyze the deviation angle between the wind direction information and the preset material joining reference direction information and use it as the wind direction deviation angle value.

[0148] The reference material receiving direction information refers to the reference orientation information of the receiving plate in the bin-changing device when receiving materials, and this reference material receiving direction information is obtained through pre-input. The wind direction deviation angle value refers to the angle value corresponding to the deviation between the reference orientation of the receiving plate in the bin-changing device when receiving materials and the wind direction. The deviation angle between the wind direction information and the preset reference material receiving direction information is calculated and used as the wind direction deviation angle value for subsequent use.

[0149] Step S303: determining the tilt angle adjustment value according to the wind direction deviation angle value.

[0150] Among them, the inclination angle adjustment value refers to the adjustment value used to adjust the angle of the material receiving plate in the bin changing device. Different wind direction deviation angle values correspond to different inclination angle adjustment values. The preset inclination angle database is queried through the wind direction deviation angle value to obtain the inclination angle adjustment value. The inclination angle database pre-stores a comparison table of different wind direction deviation angle values and corresponding inclination angle adjustment values. The inclination angle adjustment value is determined by querying the wind direction deviation angle value, which is convenient for subsequent use.

[0151] Step S304: Determine the required adjustment time value according to the wind force detection value.

[0152] Among them, the adjustment requirement time value refers to the time value that needs to be adjusted after the material receiving plate is affected by the wind force. Different wind force detection values correspond to different adjustment requirement time values. The adjustment requirement time value is obtained by querying a preset adjustment time database. The adjustment time database pre-stores a comparison table of different wind force detection values and corresponding adjustment requirement time values. The adjustment time database is obtained after pre-input.

[0153] Step S305: Calculate the quotient of the tilt angle adjustment value and the adjustment required time value and use it as the angle adjustment speed value.

[0154] Among them, the angle adjustment speed value refers to the speed value when controlling the angle adjustment of the material receiving plate. The quotient between the tilt angle adjustment value and the adjustment required time value is calculated and used as the angle adjustment speed value for convenience of subsequent use.

[0155] Step S306: Based on the tilt angle adjustment value and the angle adjustment speed value, the receiving plate in the preset bin changing device is controlled to adjust the tilt direction.

[0156] Among them, the receiving plate in the preset bin changing device is controlled to adjust the tilt direction at an angle adjustment speed value until the angle adjustment of the receiving plate reaches the tilt angle adjustment value, thereby reducing the impact of the environmental wind on the material on the receiving plate during bin changing.

[0157] exist Figure 2 Before step S208 shown, in order to further ensure the rationality of the warehouse-changing device preset based on the warehouse-changing descending time value controlling the empty turnover warehouse to be replaced to move up, it is necessary to make further separate analysis and calculation before the warehouse-changing device preset based on the warehouse-changing descending time value controlling the empty turnover warehouse to be replaced to move up, specifically through Figure 4 The steps shown are explained in detail.

[0158] Reference Figure 4 The steps before the warehouse changing device, which is preset based on the warehouse changing descending time value, moves the replaced empty turnover warehouse upward include the following steps:

[0159] Step S400: Obtain the weight detection value of the replaced empty turnover bin.

[0160] Among them, the weight detection value refers to the weight value of the material in the empty turnover bin obtained by detection, and the weight detection value is obtained by detection through a weight sensor preset on the bin changing device and on the clamping robot used to clamp the empty turnover bin.

[0161] Step S401: Determine the level unloading reference speed value according to the material level information.

[0162] The layer-level unloading reference speed value refers to the reference speed value for unloading materials at the material level. Different material level information corresponds to different layer-level unloading reference speed values. The layer-level unloading reference speed value is obtained by querying a preset unloading speed database. The unloading speed database stores a comparison table of different material level information and corresponding layer-level unloading reference speed values. Determining the layer-level unloading reference speed value by querying the material level information facilitates subsequent use.

[0163] Step S402: Determine the weight estimation range according to the level unloading reference speed value and the bin change movement time value.

[0164] The estimated weight range refers to the estimated weight range of materials temporarily stored in an empty turnover bin during the time of bin change and movement under normal circumstances. The weight estimate is calculated by calculating the base speed of the material unloading layer and the bin change movement time. The difference and sum of the weight estimate and the preset weight range deviation are calculated and used as the two endpoints of the weight estimate range to obtain the weight estimate range for subsequent use. The weight range deviation value refers to the deviation value that allows for weight deviation. The weight range deviation value is obtained after pre-entry.

[0165] Step S403: Determine whether the weight detection value is within the weight estimation range. If yes, proceed to step S404; if no, proceed to step S405.

[0166] Here, whether the weight detection value is within the weight estimation range is judged, thereby judging whether there is any material remaining on the material receiving plate.

[0167] Step S404: Jump to step S208.

[0168] When the weight detection value is within the weight estimation range, it indicates that no material remains on the material receiving plate, so the process jumps to step S208 .

[0169] Step S405: Calculate the difference between the detected weight value and the estimated weight value and use it as the weight deviation value.

[0170] Among them, the weight deviation value refers to the deviation value when there is a deviation in the weight. When the weight detection value is not within the weight estimation range, it means that there is material remaining on the material receiving plate. Therefore, the deviation between the weight detection value and the weight estimation value is calculated and used as the weight deviation value to facilitate subsequent use.

[0171] Step S406: Determine the initial weight jitter value according to the weight deviation value.

[0172] The initial weight jitter value refers to the initial jitter rate at which the splice plate is jittered. Different weight deviation values correspond to different initial weight jitter values. The initial weight jitter value is retrieved by querying a preset weight jitter database for easy subsequent use. The weight jitter database pre-stores a table of comparisons between different weight deviation values and their corresponding initial weight jitter values.

[0173] Step S407: determining the jitter tilt impact value according to the tilt amplitude value.

[0174] The jitter tilt impact value refers to the degree of influence of the splice plate's tilt amplitude on the jitter rate. Different tilt amplitudes correspond to different jitter tilt impact values. The jitter tilt impact value is retrieved by querying a preset tilt impact database based on the tilt amplitude value, facilitating subsequent use. The tilt impact database pre-stores a table comparing different tilt amplitudes with their corresponding jitter tilt impact values.

[0175] Step S408: Calculate the product value between the initial weight jitter value and the jitter tilt influence value and use it as the weight jitter adjustment value, and control the jitter device preset on the receiving plate to perform jittering based on the weight jitter adjustment value.

[0176] Among them, the weight jitter adjustment value refers to the adjustment value after adjusting the jitter rate, which is calculated by multiplying the initial weight jitter value and the jitter tilt influence value and used as the weight jitter adjustment value, and by controlling the jitter device preset on the receiving plate to jitter with the weight jitter adjustment value, so as to shake the remaining materials on the receiving plate into the empty turnover warehouse.

[0177] exist Figure 1 In step S103, in order to further ensure the rationality of the material height value, it is necessary to further analyze and calculate the material height value. Figure 5 The steps shown are explained in detail.

[0178] Reference Figure 5 , the method for determining the material height value includes the following steps:

[0179] Step S500: Determine the striking position point according to the warehouse specification information.

[0180] The knocking location point refers to the location point corresponding to the knocking of the turnover warehouse. Different warehouse specifications correspond to different knocking location points. The knocking location point is obtained by querying the preset knocking location database based on the warehouse specifications, which is convenient for subsequent use. The knocking location database pre-stores a comparison table of different warehouse specifications and corresponding knocking location points.

[0181] Step S501: determining sound position reference information according to the tapping position point.

[0182] The sound position reference information refers to the reference sound information corresponding to different material quantities when striking the turnover bin at the striking position. Different striking positions correspond to different sound position reference information. The sound position reference information is obtained by querying a preset sound position database to facilitate subsequent use. The sound position database pre-stores a comparison table of different striking positions and corresponding sound position reference information.

[0183] Step S502: Determine sound level impact information according to the material level information.

[0184] The sound level impact information refers to the impact of different material levels on the baseline sound when the turnover bin is struck. Different material level information corresponds to different sound level impact information. The sound level impact information is obtained by querying a preset sound level database to facilitate subsequent use. The sound level database pre-stores a comparison table of different material level information and corresponding sound level impact information.

[0185] Step S503: combining the sound position reference information with the sound level impact information to obtain comprehensive sound reference information.

[0186] Among them, the comprehensive sound benchmark information refers to the benchmark sound information corresponding to the material level and knocking position under different material quantities. The comprehensive sound benchmark information is obtained by combining the sound position benchmark information with the sound level impact information, which is convenient for subsequent use.

[0187] Step S504: Match the sound detection information with the sound comprehensive reference information to determine the material height value.

[0188] Among them, by matching the sound detection information with the sound comprehensive reference information, and taking the height value corresponding to the sound with the consistent matching result as the material height value, the accuracy of the obtained material height value is improved.

[0189] exist Figure 1 In step S107, in order to further ensure the rationality of the target position point, it is necessary to further analyze and calculate the target position point separately, specifically by Figure 6 The steps shown are explained in detail.

[0190] Reference Figure 6 , the method for selecting the target location point includes the following steps:

[0191] Step S600: Retrieve the remaining location points based on the management location point.

[0192] Among them, the remaining position points refer to the position points of the remaining turnover warehouses that have not been inspected. The positions of the remaining turnover warehouses are retrieved through the management position points and used as the remaining position points for subsequent use.

[0193] Step S601: Calculate the distance between the management location point and the remaining location points as the distance value.

[0194] Among them, the distance value refers to the distance between the management location point and other turnover warehouse locations. By calculating the distance between the management location point and the remaining location points and using it as the distance value, it is convenient for subsequent use.

[0195] Step S602: Sort the distance values from small to large to obtain a distance sequence number.

[0196] Among them, the distance sequence number refers to the sequence number value corresponding to the result of sorting the distance from small to large. The distance sequence number is obtained by sorting the distance values from small to large, which is convenient for subsequent use.

[0197] Step S603: Retrieve the tapping detection time point and the tapping detection result value based on the remaining position points.

[0198] The knock detection time point refers to the time point corresponding to the knock detection of other turnover warehouses in the past, and the knock detection result value refers to the height result value corresponding to the knock detection of other turnover warehouses in the past. The remaining position points are used to retrieve the various detection times of the location in the past and use them as the knock detection time points, and the detection results corresponding to each detection time are used as the knock detection result values.

[0199] Step S604: determining a tapping time difference based on two adjacent tapping detection time points.

[0200] The knocking time difference refers to the time interval between the two most recent adjacent knocking detections. The time interval between the two adjacent knocking detection time points is calculated and used as the knocking time difference for easy subsequent use.

[0201] Step S605: Determine the knocking height difference based on the knocking detection result values of two adjacent knocking times.

[0202] Among them, the knocking height difference refers to the height deviation value obtained from the two most recent adjacent knocking tests. By calculating the result values of the two adjacent knocking tests and using them as the knocking height difference, it is convenient for subsequent use.

[0203] Step S606: Determine the estimated feeding speed value according to the knocking time difference and the knocking height difference.

[0204] Among them, the estimated feeding speed value refers to the estimated feeding speed value when feeding other turnover warehouses. The quotient between the knocking height difference and the knocking time difference is calculated and used as the estimated feeding speed value for subsequent use.

[0205] Step S607: Calculate the estimated time value for the most recent material height value to reach the material reference interval based on the estimated feed speed value.

[0206] Among them, the estimated time value refers to the estimated time value corresponding to when the materials temporarily stored in other turnover warehouses reach the warehouse change demand. The difference between the most recent material height value and the material reference interval is calculated, and then the quotient between the difference and the estimated feed speed value is calculated. The quotient is used as the estimated time value for subsequent use.

[0207] Step S608: Sort the estimated time values from small to large to obtain a time sequence number.

[0208] Among them, the time sequence number refers to the sequence number value corresponding to the sorting result from small to large according to time. The time sequence number is obtained by sorting the estimated time values from small to large, which is convenient for subsequent use.

[0209] Step S609: Calculate the sum of the distance sequence number and the time sequence number and use it as the comprehensive sequence number. Select the remaining position point corresponding to the smallest comprehensive sequence number as the target position point.

[0210] Among them, the comprehensive serial number refers to the serial number corresponding to the comprehensive reference selection of the position based on distance and time. The sum of the distance serial number and the time serial number is calculated and used as the comprehensive serial number, and the remaining position point corresponding to the smallest comprehensive serial number is selected as the target position point, thereby improving the accuracy of the obtained target position point.

[0211] exist Figure 6 After step S609, in order to further ensure the rationality of the target location point, it is necessary to select the remaining location point corresponding to the smallest comprehensive serial number as the target location point and then perform further separate analysis and calculation, which is specifically explained in detail through the following steps.

[0212] The steps after selecting the remaining position point corresponding to the smallest comprehensive sequence number as the target position point include the following steps:

[0213] Step S700: Define the time serial number of the target location point as the time target serial number. When the time target serial number is not the first serial number, select the risk location point based on the time target serial number, define the distance value corresponding to the target location point as the forward distance value, and define the estimated time value corresponding to the risk location point as the risk location time value.

[0214] Among them, the risk location point refers to the location point corresponding to the time when other turnover warehouses meet the need for replacement when the target location point is prioritized for detection. By defining the time target sequence number, when the time target sequence number is not the first sequence number, it means that there is a probability that other turnover warehouses will meet the need for replacement. Therefore, the remaining location points before the time sequence number corresponding to the target location point are retrieved according to the time target sequence number and used as risk locations. The forward distance value and risk location time value are defined separately for convenience in subsequent use.

[0215] Step S701: Calculate the distance between the target location point and the risk location point and use it as a relative distance value.

[0216] The relative distance value refers to the distance between the target location point and the risk location point. By calculating the distance between the target location point and the risk location point and using it as the relative distance value, it is convenient for subsequent use.

[0217] Step S702: Calculate the sum of the forward distance value and the relative distance value as the risk distance value.

[0218] Among them, the risk distance value refers to the distance value required to walk when going to the target location point first and then to the risk location point. The sum of the forward distance value and the relative distance value is calculated as the risk distance value, which is convenient for subsequent use.

[0219] Step S703: determining a detection risk time value according to the risk distance value and a preset maximum speed value.

[0220] Among them, the maximum travel speed value refers to the maximum moving speed value when the preset knocking device moves, and the risk detection time value refers to the time value required for the knocking device to first go to the target location point and then to the risk location point. The quotient between the risk distance value and the preset maximum travel speed value is calculated, and the calculated quotient is used as the risk detection time value for subsequent use.

[0221] Step S704: Determine whether the detection risk time value is greater than the risk location time value. If yes, execute step S705; if no, execute step S706.

[0222] The accuracy of the selected target location point is determined by judging whether the detection risk time value is greater than the risk location time value.

[0223] Step S705: Continue to output the target location point.

[0224] Among them, when the detection risk time value is greater than the risk position time value, it means that the target position point selected at this time is accurate, so the target position point continues to be output.

[0225] Step S706: Replace the target location point based on the risk location point.

[0226] Among them, when the detection risk time value is not greater than the risk position time value, it means that the target position point selected at this time is inaccurate, so the accuracy of the obtained target position point is improved by replacing the risk position point with the target position point.

[0227] exist Figure 1 After step S108 shown, in order to further ensure the rationality of taking the target position point as the next management position point and controlling the preset knocking device to move to the management position point, it is necessary to perform further separate analysis and calculation on the steps after taking the target position point as the next management position point and controlling the preset knocking device to move to the management position point, which is specifically explained in detail through the steps shown below.

[0228] The steps after taking the target location as the next management location and controlling the preset striking device to move to the management location include the following steps:

[0229] Step S800: Obtaining preset obstacle information and current position point in front of the tapping device.

[0230] Obstacle information refers to the detection information of obstacles in front of the striking device, which is detected and obtained by an infrared sensor preset on the striking device. Current position refers to the current position of the striking device, which is detected and obtained by a position sensor preset on the striking device.

[0231] Step S801: Determine the turning direction of the tapping device for obstacle avoidance according to the obstacle information.

[0232] Among them, the turning direction refers to the direction corresponding to when the knocking device needs to avoid the obstacle. By analyzing the obstacle information and based on the obstacle width corresponding to the obstacle information and the distance between the obstacle and the knocking device, the direction required to avoid the obstacle is calculated and used as the turning direction for subsequent use.

[0233] Step S802: Determine whether there are any remaining position points in the turning direction. If not, proceed to step S803; if yes, proceed to step S804.

[0234] Here, by judging whether there are any remaining position points located in the turning direction, it is judged whether the target position point needs to be adjusted when turning is required.

[0235] Step S803: moving forward according to the original target location.

[0236] When there is no remaining position point in the turning direction, it means that the target position point does not need to be adjusted at this time, so the vehicle moves forward according to the original target position point.

[0237] Step S804: The remaining position points in the turning direction are regarded as on-the-way position points, and the estimated time value corresponding to the target position point is regarded as the target position required time value.

[0238] Among them, when there are remaining position points in the turning direction, it means that the target position point needs to be adjusted at this time, so the required time values of the en route position points and the target position are defined separately for convenience of subsequent use.

[0239] Step S805: Calculate the distance between the en route location point and the current location point and use it as the en route distance value.

[0240] Among them, the en route distance value refers to the distance value required for the tapping device to move to the en route position point. By calculating the distance between the en route position point and the current position point and using it as the en route distance value, it is convenient for subsequent use.

[0241] Step S806: Determine the time value spent on the way according to the distance value on the way and the preset maximum speed value.

[0242] Among them, the time value spent on the way refers to the time value required for the tapping device to move to the along-way location point. The quotient between the along-way distance value and the preset maximum travel speed value is calculated, and the quotient is used as the time value spent on the way for subsequent use.

[0243] Step S807: Determine whether the time taken to reach the destination is greater than the time required to reach the destination. If yes, proceed to step S808; if no, proceed to step S809.

[0244] Among them, by judging whether the time value spent on the way is greater than the time value required for the target location, it is determined whether it is possible to go to the location point on the way first.

[0245] Step S808: Continue moving.

[0246] Among them, when the time value spent on the way is greater than the time value required for the target location, it means that it is not possible to go to the location point on the way first, so continue to move.

[0247] Step S809: Replace the target location point with the en route location point and continue moving.

[0248] Among them, when the time value spent on the way is not greater than the time value required for the target location, it means that the location point on the way can be visited first, so the location point on the way is replaced with the target location point and the movement is continued, thereby improving the accuracy of the obtained target location point.

[0249] Based on the same inventive concept, an embodiment of the present invention provides a material management system for a turnover warehouse, including:

[0250] The acquisition module is used to obtain the management location point, sound detection information, wind detection information, weight detection value, obstacle information and current location point;

[0251] A memory for storing the material management method for a turnover warehouse as described above;

[0252] The processor loads and executes the program in the memory.

[0253] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed by a material management method for a turnover warehouse as described above.

[0254] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0255] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A material management method for a turnover warehouse, characterized in that: include: Get management location points; Based on the management location point, the preset knocking device is controlled to knock on the outer wall of the turnover warehouse to obtain sound detection information; Determine material level information and material benchmark intervals based on management location points; Determine the material height value based on the sound detection information and material level information; Determine the management position result information based on the material height value and the management position point and store it; Determine whether the material height value is within the material reference range; If yes, the preset bin-changing device is controlled to change the turnover bin; If not, select the target location point based on the management location point; The target position point is taken as the next management position point and the preset knocking device is controlled to move to the management position point.

2. The material management method for a turnover warehouse according to claim 1, characterized in that: Controlling the preset bin changing device to change the turnover bin includes: Retrieve warehouse specification information based on management location points; Determine the silo lowering height, maximum silo material capacity, and silo change distance based on silo specifications; Calculate the difference between the maximum value of the silo material and the material height value and use it as the allowable value for silo change; Determine the bin change descending time value based on the bin change allowance and material level information; Determine the tilt amplitude value based on the warehouse body's descending height value and the warehouse change distance value; Determine the shifting time value based on the shifting distance value; Based on the warehouse change descending time value, the preset warehouse change device is controlled to move the turnover warehouse at the management position downward; Based on the tilt amplitude value, the material receiving plate in the preset bin changing device is controlled to tilt, and based on the bin changing movement time value, the preset bin changing device is controlled to simultaneously move the turnover bin at the management position point and the replaced empty turnover bin; Based on the warehouse changing descending time value, the preset warehouse changing device is controlled to move the replaced empty turnover warehouse upward.

3. The material management method for a turnover warehouse according to claim 2, characterized in that: The step of controlling the tilting of the receiving plate in the bin changing device based on the tilt amplitude value is also included: Obtain wind force detection information on the splicing plate; Retrieving wind force detection value and wind force direction information based on wind force detection information; Analyze the deviation angle between the wind direction information and the preset material connection reference direction information and use it as the wind direction deviation angle value; Determine the tilt angle adjustment value according to the wind direction deviation angle value; Determine the adjustment demand time value according to the wind force detection value; Calculate the quotient between the tilt angle adjustment value and the adjustment required time value and use it as the angle adjustment speed value; Based on the tilt angle adjustment value and the angle adjustment speed value, the receiving plate in the preset bin changing device is controlled to adjust the tilt direction.

4. The material management method for a turnover warehouse according to claim 2, characterized in that: The method also includes the following steps before the preset bin changing device is controlled based on the bin changing descending time value to move the replaced empty turnover bin upwards: Obtain the weight detection value of the replaced empty turnover bin; Determine the level unloading benchmark speed value based on the material level information; Determine the weight estimation range based on the level unloading benchmark speed value and the bin change movement time value; Determine whether the weight detection value is within the weight estimation range; If yes, the process jumps to execute the preset bin changing device based on the bin changing descending time value to move the replaced empty turnover bin upwards; If not, the difference between the weight detection value and the weight estimation value is calculated and used as the weight deviation value; Determine the initial weight jitter value according to the weight deviation value; Determine the jitter tilt impact value according to the tilt amplitude value; The product value between the initial weight jitter value and the jitter tilt influence value is calculated and used as the weight jitter adjustment value, and the jitter device preset on the material receiving plate is controlled to jitter based on the weight jitter adjustment value.

5. The material management method for a turnover warehouse according to claim 2, characterized in that: Methods for determining material height values include: Determine the knocking position according to the warehouse specifications; Determine the sound position reference information according to the striking position point; Determine sound level impact information based on material level information; Combining the sound position reference information with the sound level impact information to obtain the sound comprehensive reference information; The material height value is determined by matching the sound detection information with the sound comprehensive reference information.

6. The material management method for a turnover warehouse according to claim 1, characterized in that: Methods for selecting target location points include: Retrieve the remaining location points based on the management location point; Calculate the distance between the management location point and the remaining location points as the distance value; Sort the distance values from small to large to get the distance sequence number; Retrieve the knock detection time point and knock detection result value based on the remaining position points; Determine the knocking time difference according to two adjacent knocking detection time points; Determine the knocking height difference based on the values of two adjacent knocking detection results; Determine the estimated feeding speed value based on the knocking time difference and the knocking height difference; Calculate the estimated time value for the most recent material height value to reach the material reference interval based on the estimated feed speed value; Sort the estimated time values from small to large to get the time sequence number; The sum of the distance sequence number and the time sequence number is calculated and used as the comprehensive sequence number. The remaining position point corresponding to the smallest comprehensive sequence number is selected as the target position point.

7. The material management method for a turnover warehouse according to claim 5, characterized in that: The step of selecting the remaining position point corresponding to the smallest comprehensive sequence number as the target position point is also included: Define the time sequence number of the target location point as the time target sequence number. When the time target sequence number is not the first sequence number, select the risk location point based on the time target sequence number, define the distance value corresponding to the target location point as the forward distance value, and define the estimated time value corresponding to the risk location point as the risk location time value. Calculate the distance between the target location point and the risk location point and use it as the relative distance value; Calculate the sum of the forward distance value and the relative distance value as the risk distance value; Determine the detection risk time value based on the risk distance value and the preset maximum speed value; Determine whether the detection risk time value is greater than the risk location time value; If yes, continue to output the target position point; If not, the target location point is replaced based on the risk location point.

8. The material management method for a turnover warehouse according to claim 1, characterized in that: The method further includes the following steps after taking the target position point as the next management position point and controlling the preset knocking device to move to the management position point: Obtaining the obstacle information and current position in front of the preset striking device; Determine the turning direction of the striking device to avoid obstacles based on obstacle information; Determine whether there are any remaining position points in the turning direction; If not, proceed according to the original target position; If yes, the remaining position points in the turning direction are taken as the en route position points, and the estimated time value corresponding to the target position point is taken as the target position required time value; Calculate the distance between the en route location and the current location and use it as the en route distance value; Determine the time spent on the way according to the distance value on the way and the preset maximum speed value; Determine whether the time spent on the way is greater than the time required for the target location; If yes, continue moving; If not, the target location point will be replaced by the en route location point and the movement will continue.

9. A material management system for a turnover warehouse, characterized in that: include: The acquisition module is used to obtain the management location point, sound detection information, wind detection information, weight detection value, obstacle information and current location point; A memory, configured to store a material management method for a turnover warehouse according to any one of claims 1 to 8; The processor loads and executes the program in the memory.

10. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program and can be loaded by the processor to execute a material management method for a turnover warehouse as described in any one of claims 1 to 8.

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