Automatic management method, system, medium and equipment for roll

Abstract

The application provides a kind of automatic stereoscopic warehouse management method, system, medium and equipment for roll, relating to roll management technical field.When receiving warehousing instruction, first, the position of target roll is obtained and a handling robot is used to automatically grab the target roll, then the attribute information of the target roll is read and the size information of the target roll is actually measured, the actually measured size information and attribute information are compared, if they are the same, the target roll is transported and placed on the target shelf, at the same time, the number information of the target shelf is input into the label of the target roll, which is convenient for subsequent searching and delivery.When receiving delivery instruction, the template shelf information where the target roll is located is obtained from the label of the target roll, and a handling robot is used to transport the target roll to the delivery position, to realize the automatic warehousing and delivery of the target roll, thereby improving the warehousing and delivery efficiency of the roll, and the related information of the target roll is stored in its label in real time, ensuring the continuity and timeliness of the information.

Description

Technical Field

[0001] This application relates to the field of roll management technology, specifically to an automated three-dimensional warehouse management method, system, medium, and equipment for rolls. Background Technology

[0002] Rolls are the main working components and tools on a rolling mill that cause continuous plastic deformation of metal. They mainly consist of three parts: the roll body, the roll neck, and the shaft end. The roll body is the middle part of the roll that actually participates in the rolling of metal. It has a smooth cylindrical or grooved surface. The roll neck is mounted in a bearing and transmits the rolling force to the mill stand through the bearing housing and the pressing device. The shaft end, located at the drive end, is connected to the gear seat through a connecting shaft, transmitting the rotational torque of the motor to the roll. For rolling mills with different sizes and performance requirements, the required parameters such as the diameter of the rolls also vary. Furthermore, during long-term high-load operation, the rolls will suffer wear and deformation, resulting in a large number and variety of rolls required, and the need to test parameters such as the diameter of the rolls.

[0003] Current technologies rely on manual inspection, where rolls are manually inspected after a period of use based on experience to determine their continued usability. Furthermore, to ensure the mill's smooth operation, various types of rolls need to be stored, with operators manually recording the storage and retrieval locations of each size. This approach not only incurs significant labor costs but also suffers from slow processes and potential errors due to human error, lost records, and difficulties in retrieval. Therefore, an automated solution for fast and accurate roll storage and retrieval is needed. Summary of the Invention

[0004] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide an automated three-dimensional warehouse management method, system, medium, and equipment for rolling mill rolls.

[0005] According to one aspect of this application, an automated storage and retrieval system (AS / RS) management method for rolling mill rolls is provided, comprising: receiving an inbound instruction or an outbound instruction for a target rolling mill roll; wherein the inbound instruction and the outbound instruction respectively represent instructions to place the target rolling mill roll in the AS / RS and to transport it out of the AS / RS; if the received instruction is the inbound instruction, then obtaining the current position information of the target rolling mill roll; based on the current position information of the target rolling mill roll, using a handling robot to grasp the target rolling mill roll; reading the attribute information of the target rolling mill roll and measuring the size information of the target rolling mill roll; wherein the attribute information of the target rolling mill roll is obtained by reading a label on the target rolling mill roll; if the size information and the attribute information of the target rolling mill roll are the same, then placing the target rolling mill roll on a target shelf in the AS / RS and inputting the number information of the target shelf into the label of the target rolling mill roll; if the received instruction is the outbound instruction, then obtaining the number information of the shelf where the target rolling mill roll is located; based on the number information of the shelf where the target rolling mill roll is located, using a handling robot to grasp the target rolling mill roll and transport it to the outbound position of the AS / RS.

[0006] In one embodiment, the step of using a transport robot to grasp the target roll based on the current position information of the target roll includes: controlling the transport robot to run to the current position information of the target roll and acquiring an image of the target roll based on the current position information of the target roll; identifying the parking orientation of the target roll based on the image of the target roll; and controlling the transport robot to grasp the target roll based on the parking orientation of the target roll.

[0007] In one embodiment, reading the attribute information of the target roll and measuring the size information of the target roll includes: reading the label on the target roll to obtain the attribute information of the target roll; and measuring the diameter of the target roll.

[0008] In one embodiment, the automated storage and retrieval system (AS / RS) management method for the roll further includes: measuring the diameter at multiple locations on the target roll; if the difference between the diameters at the multiple locations is greater than a preset value, then transporting the target roll to the grinding area, and after grinding, transporting the target roll to the target shelf.

[0009] In one embodiment, transporting the target roll to the target shelf after grinding includes: measuring the diameter of the target roll again after grinding; inputting the diameter of the target roll into the label of the target roll; and transporting the target roll to the target shelf based on the diameter of the target roll.

[0010] In one embodiment, placing the target roller on the target shelf of the automated warehouse and inputting the target shelf number information into the label of the target roller includes: obtaining an empty layer on the target shelf; obtaining the diameter of the rollers placed in the adjacent layers of the empty layer; based on the size relationship between the diameter of the target roller and the diameter of the rollers placed in the adjacent layers, placing the target roller in the corresponding target empty layer on the target shelf, and inputting the target shelf and the target empty layer number information into the label of the target roller.

[0011] In one embodiment, placing the target roller on the target shelf of the automated warehouse includes: planning a target path based on the current position information of the target roller and the position information of the target shelf; and transporting the target roller to the target shelf and placing it on the target shelf based on the target path.

[0012] According to another aspect of this application, an automated storage and retrieval system (AS / RS) management system for rolling mill rolls is provided, comprising: an instruction receiving module for receiving an inbound instruction or an outbound instruction for a target rolling mill roll; wherein the inbound instruction and the outbound instruction respectively represent instructions to place the target rolling mill roll in the AS / RS and instructions to transport it out of the AS / RS; a position acquisition module for acquiring the current position information of the target rolling mill roll if the received instruction is the inbound instruction; a rolling mill roll gripping module for gripping the target rolling mill roll using a handling robot based on the current position information of the target rolling mill roll; and an information determination module for reading the attribute information of the target rolling mill roll and measuring the target rolling mill roll. The system includes: a size information module for the target roll; an attribute information module for the target roll, which, if the size information and attribute information of the target roll are the same, places the target roll on the target shelf of the automated warehouse and inputs the number information of the target shelf into the label of the target roll; a number acquisition module for acquiring the number information of the shelf where the target roll is located if the received instruction is the outbound instruction; and a roll outbound module for using a handling robot to grab the target roll and transport it to the outbound location of the automated warehouse based on the number information of the shelf where the target roll is located.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for performing any of the methods described above.

[0014] According to another aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to perform any of the methods described above.

[0015] Beneficial Effects: This application provides an automated storage and retrieval system (AS / RS) management method, system, medium, and equipment for rolling mill rolls. The method involves receiving an inbound or outbound instruction for a target rolling mill roll; where the inbound and outbound instructions represent instructions to place the target rolling mill roll in the AS / RS and to transport it out of the AS / RS, respectively. If the received instruction is an inbound instruction, the current position information of the target rolling mill roll is obtained. Based on the current position information, a handling robot is used to grasp the target rolling mill roll. The attribute information of the target rolling mill roll is read, and its dimensions are measured. The attribute information of the target rolling mill roll is obtained by reading a label on the target rolling mill roll. If the dimensions and attribute information of the target rolling mill roll are the same, the target rolling mill roll is placed on a target shelf in the AS / RS, and the shelf number is entered into the label of the target rolling mill roll. If the received instruction is an outbound instruction, the shelf number of the target rolling mill roll is obtained. Based on the shelf number of the target rolling mill roll... The system uses a handling robot to pick up the target roller and transport it to the outbound location of the automated warehouse. Specifically, upon receiving an inbound instruction, the system first obtains the target roller's location and automatically picks it up using a handling robot. Then, it reads the target roller's attribute information and measures its dimensions. The measured dimensions and attributes are compared; if they match, the target roller is still usable. It is then transported and placed on a target shelf, and the shelf's number is entered into the target roller's tag for easy retrieval and outbound processing. Upon receiving an outbound instruction, the target roller's tag retrieves its shelf information, and a handling robot transports it to the outbound location. This automated inbound and outbound process improves roller efficiency and ensures continuous and timely information. Furthermore, the system stores relevant target roller information in its tag in real-time for easy retrieval. Attached Figure Description

[0016] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 This is a flowchart illustrating an exemplary embodiment of the automated three-dimensional warehouse management method for rolling mill rolls provided in this application.

[0018] Figure 2 This is a schematic diagram of the structure of an automated three-dimensional warehouse management system for rolling mills provided in an exemplary embodiment of this application.

[0019] Figure 3 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0020] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0021] Figure 1 This is a flowchart illustrating an exemplary embodiment of the automated three-dimensional warehouse management method for rolling mill rolls provided in this application. Figure 1 As shown, the automated storage and retrieval system (AS / RS) management method for this roll includes the following steps:

[0022] Step 110: Receive the warehousing instruction or warehousing instruction for the target roll.

[0023] The inbound and outbound instructions respectively indicate the instructions to place the target roll in the automated warehouse and transport it out of the automated warehouse. This application achieves automatic inbound or outbound processing of the target roll by inputting inbound or outbound instructions through a backend server or computer.

[0024] Step 120: If the received instruction is an inbound instruction, then obtain the current position information of the target roll.

[0025] If an inbound instruction is received, the management system obtains the current location information of the target roller. Normally, the target roller is placed at the entrance of the automated warehouse to await inbound. However, in actual operation, the target roller's current location may not be at the entrance. For example, if there is a roller waiting to be inbound at the entrance, subsequent rollers will queue at a later location. To improve the grasping accuracy of the handling robot, this application can use devices such as cameras or infrared sensors to collect information about rollers near the entrance of the automated warehouse to determine the current location information of the target roller. Specifically, this application can use a camera to capture an image of a preset range at the entrance and obtain the relative position of the target roller to the entrance through image recognition, thereby determining the current location information of the target roller.

[0026] Step 130: Based on the current position information of the target roll, a handling robot is used to grab the target roll.

[0027] After determining the location information of the target roll, the handling robot is controlled to automatically move to the target roll to grab it, thereby realizing the automatic grabbing of the target roll.

[0028] Step 140: Read the attribute information of the target roll and measure the size information of the target roll.

[0029] The target roll's attribute information is obtained by reading the label on the target roll. After the handling robot grasps the target roll, it scans the label on the target roll to obtain the target roll's attribute information (including size information), and obtains the actual size information of the target roll through actual measurement. That is, after grasping the target roll, the robot verifies the size of the target roll by reading the target roll's attribute information and measuring the target roll's size information.

[0030] Step 150: If the size information and attribute information of the target roll are the same, place the target roll on the target shelf in the automated warehouse and enter the target shelf number information into the label of the target roll.

[0031] If the dimensions of the target roll match the dimensions in the read attribute information, it means the dimensions of the target roll have not changed, and the target roll can still be used normally. In this case, directly transport the target roll and place it on the target shelf, simultaneously entering the shelf number into the target roll's label to record its storage location. If the dimensions of the target roll do not match the dimensions in the read attribute information, it means the target roll has suffered significant damage during use, resulting in a significant change in its diameter. In this case, update the diameter information on the target roll's label and place it in the automated warehouse.

[0032] Step 160: If the received instruction is an outbound instruction, then obtain the number information of the shelf where the target roll is located.

[0033] After receiving the outbound instruction, the warehouse system obtains the shelf number information of the target roll through the back-end server (the information contained in the target roll's label is shared with the back-end server) to determine the specific location of the target roll in the automated warehouse.

[0034] Step 170: Based on the shelf number information of the target roll, use a handling robot to grab the target roll and transport it to the outbound location of the automated warehouse.

[0035] After determining the location of the target roll, the handling robot is controlled to move to the corresponding shelf position, grab the target roll, and transport it to the outbound position of the automated warehouse to achieve automatic outbound of the target roll.

[0036] This application provides an automated storage and retrieval system (AS / RS) management method for rolling mill rolls. The method involves receiving an inbound or outbound instruction for a target rolling mill roll; where the inbound and outbound instructions represent instructions to place the target rolling mill roll in the AS / RS and to transport it out of the AS / RS, respectively. If the received instruction is an inbound instruction, the current position information of the target rolling mill roll is obtained. Based on the current position information, a handling robot is used to grasp the target rolling mill roll. The attribute information of the target rolling mill roll is read, and its dimensions are measured. The attribute information of the target rolling mill roll is obtained by reading a label on the target rolling mill roll. If the dimensions and attribute information of the target rolling mill roll are the same, the target rolling mill roll is placed on a target shelf in the AS / RS, and the shelf number is entered into the label of the target rolling mill roll. If the received instruction is an outbound instruction, the shelf number of the target rolling mill roll is obtained. Based on the shelf number of the target rolling mill roll, a handling robot is used to grasp the target rolling mill roll. The method also involves reading the attribute information of the target rolling mill roll and measuring its dimensions. A handling robot picks up the target roller and transports it to the outbound location of the automated warehouse. Upon receiving an inbound instruction, the robot first obtains the target roller's location and automatically picks it up. Then, it reads the roller's attribute information and measures its dimensions. The measured dimensions and attributes are compared; if they match, the roller is usable. It is then transported and placed on a target shelf, and the shelf number is entered into the roller's tag for easy retrieval and outbound processing. Upon receiving an outbound instruction, the roller's tag retrieves its shelf information, and the robot transports it to the outbound location. This automated inbound and outbound process improves roller efficiency and ensures continuous and timely information. Furthermore, the robot stores relevant roller information in its tag in real-time for easy retrieval.

[0037] In one embodiment, step 130 can be implemented as follows: based on the current position information of the target roll, control the transport robot to run to the current position information of the target roll and collect an image of the target roll; based on the image of the target roll, identify the parking orientation of the target roll; based on the parking orientation of the target roll, control the transport robot to grab the target roll.

[0038] Based on the location of the target roll, the transport robot is controlled to move to that location and acquire an image of the target roll. By identifying the shape of the target roll in the image, its parking orientation is determined. Based on the parking orientation of the target roll, the transport robot is controlled to grasp the target roll at a specific angle (e.g., the gripping direction of the transport robot is the radial direction of the target roll) and a specific position (e.g., the distance between the gripping point of the transport robot and the end of the nearest target roll is less than a preset distance). This not only ensures the stability of the gripping but also ensures the space occupied during transportation and avoids collisions.

[0039] In one embodiment, step 140 can be implemented by: reading the label on the target roll to obtain the attribute information of the target roll; and measuring the diameter of the target roll.

[0040] This application reads the attribute information of the target roll by scanning the label on the target roll, and determines the current diameter of the target roll (e.g., the diameter at a specific location) by actual measurement. By comparing the diameter information stored in the label of the target roll (the diameter obtained from the last measurement, e.g., the diameter before this use) with the current diameter, it determines whether the current use has caused serious damage to the target roll, thereby judging whether the target roll can continue to be used.

[0041] In one embodiment, the above-mentioned automated storage and retrieval system (AS / RS) management method for the rolls may further include: measuring the diameter at multiple locations on the target roll; if the difference between the diameters at the multiple locations is greater than a preset value, transporting the target roll to the grinding area, and transporting the target roll to the target shelf after grinding is completed.

[0042] After the target roll is retrieved from the warehouse, this application performs diameter checks on multiple locations (including the specific locations mentioned above) of the target roll to determine whether it can still meet the requirements for normal use. If the difference between the diameters at multiple locations is greater than a preset value, it indicates that at least one location is severely worn. In this case, to ensure the quality and effectiveness of the operation, this application transports the target roll to the grinding area, where the grinding equipment grinds the target roll. After grinding, the target roll is transported to the target shelf for storage. If the difference between the diameters at multiple locations is less than or equal to the preset value, it indicates that the size change of the target roll is small. In this case, the target roll can still be used normally. The target roll is then transported and placed on the target shelf, and the number information of the target shelf is entered into the label of the target roll for easy retrieval and retrieval later.

[0043] In one embodiment, the above-mentioned automated storage and retrieval system (AS / RS) management method for the rolls may further include: measuring the diameter of the target roll again after grinding; inputting the diameter of the target roll into the label of the target roll; and transporting the target roll to the target shelf based on the diameter of the target roll.

[0044] Since grinding will have a certain impact on the diameter of the target roll, this application will detect the diameter of the target roll again after grinding is completed. For example, the diameter will be detected at multiple positions (the same positions as before grinding), and the grinding effect will be judged by calculating the difference between the diameters at multiple positions. If the difference between the diameters at multiple positions is large (greater than the threshold), grinding will continue until the difference between the diameters at multiple positions is small, which means that grinding is complete. At this time, the diameter of the target roll (e.g., the average diameter at multiple positions) will be updated in the label of the target roll, and the target roll will be transported to the target shelf based on the diameter of the target roll.

[0045] In one embodiment, step 150 can be implemented as follows: obtaining an empty layer on the target shelf; obtaining the diameter of the rollers placed in the adjacent layers of the empty layer; based on the size relationship between the diameter of the target roller and the diameter of the rollers placed in the adjacent layers, placing the target roller in the corresponding target empty layer on the target shelf, and inputting the number information of the target shelf and the target empty layer into the label of the target roller.

[0046] When determining where to store the target roll in the automated warehouse, the available shelves and corresponding available layers in the warehouse are obtained. After identifying the target shelf, the diameters of the rolls placed in adjacent layers of the available layer on the target shelf (the diameters of the rolls already placed on the target shelf) are obtained. The available layer corresponding to the condition where one of the rolls in the adjacent layer has a diameter greater than the diameter of the target roll (the diameter of the roll to be placed on the target shelf) and the other has a smaller diameter than the target roll is designated as the target available layer. This layer is used to place the target roll, ensuring that the diameter of the target roll is exactly between the diameters of the rolls in its two adjacent layers, facilitating subsequent management and retrieval. Preferably, if no two adjacent layers of rolls meet this condition, the available layer corresponding to the adjacent layer with a diameter close to that of the target roll can be selected as the target available layer. Preferably, this application can also adopt the above strategy when selecting the target shelf, that is, selecting a shelf that simultaneously stores rolls with diameters greater than and smaller than the target roll diameter as the target shelf, facilitating the management and retrieval of rolls of similar size.

[0047] In one embodiment, step 150 can be implemented as follows: based on the current position information of the target roller and the position information of the target shelf, a target path is planned; based on the target path, the target roller is transported to the target shelf and placed on the target shelf.

[0048] After determining the location information of the target shelf, this application plans a template path that is closest and unobstructed, based on the current location of the target roller and the location information of the target shelf, so as to quickly and safely transport the target roller to the target shelf and place it on the target shelf.

[0049] Figure 2 This is a schematic diagram of the structure of an automated three-dimensional warehouse management system for rolling mill rolls provided in an exemplary embodiment of this application. Figure 2 As shown, the automated storage and retrieval system (AS / RS) management system 20 for rolling mills includes: an instruction receiving module 21, used to receive inbound or outbound instructions for the target rolling mill; wherein the inbound instruction and the outbound instruction represent instructions to place the target rolling mill in the AS / RS and to transport it out of the AS / RS, respectively; a position acquisition module 22, used to acquire the current position information of the target rolling mill if the received instruction is an inbound instruction; a rolling mill gripping module 23, used to grip the target rolling mill using a handling robot based on the current position information of the target rolling mill; and an information determination module 24, used to read the attribute information of the target rolling mill and measure the size of the target rolling mill. The system includes: a size information module 25, a roll placement module 26, and a roll number acquisition module 27. The roll is positioned on a target shelf in the automated warehouse if the size information and attribute information are identical, and the shelf number is entered into the roll's label. The system also includes a roll number acquisition module 26, which acquires the shelf number of the target roll if the received instruction is an outbound instruction. Finally, the roll outbound module 27 uses a handling robot to pick up the target roll based on the shelf number and transport it to the outbound location in the automated warehouse.

[0050] This application provides an automated storage and retrieval system (AS / RS) management system for rolling mill rolls. The system receives either an inbound or outbound command for a target rolling mill roll via a command receiving module 21. The inbound and outbound commands represent the commands to place the target rolling mill roll in the AS / RS and to transport it out of the AS / RS, respectively. If the received command is an inbound command, a position acquisition module 22 acquires the current position information of the target rolling mill roll. A rolling mill roll gripping module 23, based on the current position information, uses a handling robot to grip the target rolling mill roll. An information determination module 24 reads the attribute information of the target rolling mill roll and measures its dimensions. The attribute information of the target rolling mill roll is obtained by reading the label on the roll. If the dimensions and attribute information of the target rolling mill roll are the same, a rolling mill roll placement module 25 places the target rolling mill roll on a target shelf in the AS / RS and inputs the shelf number into the label on the roll. If the received command is an outbound command, a number acquisition module 26 acquires the number of the shelf where the target rolling mill roll is located. Information; The roll outbound module 27, based on the shelf number information of the target roll, uses a handling robot to grab the target roll and transport it to the outbound position of the automated warehouse; that is, when receiving an inbound instruction, it first obtains the position of the target roll and uses a handling robot to automatically grab the target roll, then reads the attribute information of the target roll and actually measures the size information of the target roll, compares the measured size information and attribute information, if they are the same, it means that the target roll can still be used, at this time the target roll is transported and placed on the target shelf, and at the same time the number information of the target shelf is entered into the tag of the target roll for easy subsequent retrieval and outbound. When receiving an outbound instruction, the tag of the target roll obtains the template shelf information where it is located, and the handling robot transports the target roll to the outbound position to realize the automatic inbound and outbound of the target roll, thereby improving the inbound and outbound efficiency of the roll, and storing the relevant information of the target roll in its tag in real time, so as to facilitate retrieval and ensure the continuity and timeliness of information.

[0051] In one embodiment, the above-mentioned roll gripping module 23 can be further configured to: control the transport robot to run to the current position information of the target roll based on the current position information of the target roll, and collect an image of the target roll; identify the parking orientation of the target roll based on the image of the target roll; and control the transport robot to grip the target roll based on the parking orientation of the target roll.

[0052] In one embodiment, the information determination module 24 can be further configured to: read the label on the target roll to obtain the attribute information of the target roll; and measure the diameter of the target roll.

[0053] In one embodiment, the aforementioned automated storage and retrieval system 20 for rolling mills can be further configured to: measure the diameter at multiple locations on the target rolling mill; if the difference between the diameters at multiple locations is greater than a preset value, transport the target rolling mill to the grinding area, and after grinding, transport the target rolling mill to the target shelf.

[0054] In one embodiment, the aforementioned automated storage and retrieval system 20 for rolling mills can be further configured to: measure the diameter of the target rolling mill again after grinding; input the diameter of the target rolling mill into the label of the target rolling mill; and transport the target rolling mill to the target shelf based on the diameter of the target rolling mill.

[0055] In one embodiment, the roller placement module 25 may be further configured to: obtain an empty layer on the target shelf; obtain the diameter of the rollers placed in the adjacent layers of the empty layer; based on the size relationship between the diameter of the target roller and the diameter of the rollers placed in the adjacent layers, place the target roller in the corresponding target empty layer on the target shelf, and input the number information of the target shelf and the target empty layer into the label of the target roller.

[0056] In one embodiment, the roller placement module 25 can be further configured to: plan a target path based on the current position information of the target roller and the position information of the target shelf; and transport the target roller to the target shelf and place it on the target shelf based on the target path.

[0057] Below, for reference Figure 3 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0058] Figure 3 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0059] like Figure 3 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0060] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0061] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0062] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0063] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0064] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0065] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0066] Of course, for the sake of simplicity, Figure 3 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0067] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0068] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0069] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0070] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0071] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0072] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0073] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0074] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0075] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. An automated warehouse management method for a roll, characterized by, The method comprises the following steps: receiving a storage instruction or a delivery instruction of a target roll; wherein the storage instruction and the delivery instruction respectively represent instructions of placing the target roll in a warehouse and delivering the warehouse; if the received instruction is the storage instruction, obtaining current position information of the target roll; based on the current position information of the target roll, using a handling robot to grab the target roll; reading attribute information of the target roll, and measuring size information of the target roll; wherein the attribute information of the target roll is obtained by reading a label on the target roll; if the size information of the target roll and the attribute information of the target roll are the same, placing the target roll on a target shelf of the warehouse and inputting number information of the target shelf into the label of the target roll; if the received instruction is the delivery instruction, obtaining number information of a shelf where the target roll is located; based on the number information of the shelf where the target roll is located, using a handling robot to grab the target roll and transport it to a delivery position of the warehouse; the step of obtaining the current position information of the target roll comprises the following steps: capturing an image of a preset range of an entrance position by a camera, and obtaining a relative position between the target roll and the entrance position through image recognition; the step of using a handling robot to grab the target roll based on the current position information of the target roll comprises the following steps: identifying a shape of the target roll in the image to determine a parking orientation thereof; controlling a grabbing direction of the handling robot to be a radial direction of the target roll, and a distance between a grabbing point of the handling robot and an end of the target roll is less than a preset distance; the step of placing the target roll on the target shelf of the warehouse and inputting the number information of the target shelf into the label of the target roll comprises the following steps: obtaining an idle layer on the target shelf; obtaining diameters of rolls placed in adjacent layers of the idle layer; 2. The automated warehouse management method for a roll according to claim 1, characterized by, taking an idle layer corresponding to one of the diameters of the rolls in the adjacent layers being greater than the diameter of the target roll and the other being less than the diameter of the target roll as a target idle layer, placing the target roll on the target idle layer, and inputting number information of the target shelf and the target idle layer into the label of the target roll. the step of reading the attribute information of the target roll and measuring the size information of the target roll comprises the following steps: reading a label on the target roll to obtain the attribute information of the target roll; 3. The automated warehouse management method for a roll according to claim 1, characterized by, measuring a diameter of the target roll. The method further comprises the following steps: measuring diameters of multiple positions on the target roll; 4. The automated warehouse management method for rolls according to claim 3, characterized by, if a difference between the diameters of the multiple positions is greater than a preset value, transporting the target roll to a grinding area, and after grinding is completed, transporting the target roll to the target shelf. the step of transporting the target roll to the target shelf after grinding is completed comprises the following steps: after grinding is completed, measuring the diameter of the target roll again; The diameter of the target roll is entered into the label of the target roll, and the target roll is transported to the target shelf based on the diameter of the target roll.

5. The automated warehouse management method for a roll according to claim 1, characterized by, The step of placing the target roll on the target shelf of the automated warehouse includes: Based on the current position information of the target roll and the position information of the target shelf, a target path is planned; Based on the target path, the target roll is transported to the target shelf and placed on the target shelf.

6. An automated warehouse management system for rolls, characterized by include: The instruction receiving module is used to receive the entry instruction or exit instruction of the target roll; wherein the entry instruction and the exit instruction respectively represent the instructions to place the target roll in the automated warehouse and the instructions to transport it out of the automated warehouse; The position acquisition module is used to acquire the current position information of the target roll if the received instruction is the warehouse entry instruction; A roll gripping module is used to grip the target roll using a handling robot based on the current position information of the target roll. An information determination module is used to read the attribute information of the target roll and measure the size information of the target roll; wherein, the attribute information of the target roll is obtained by reading the label on the target roll; A roll placement module is used to place the target roll on the target shelf of the automated warehouse and input the number information of the target shelf into the label of the target roll if the size information and attribute information of the target roll are the same. The number acquisition module is used to acquire the number information of the shelf where the target roll is located if the received instruction is the outbound instruction; The roll outbound module is used to use a handling robot to grab the target roll and transport it to the outbound location of the automated warehouse based on the number information of the shelf where the target roll is located. The position acquisition module is further configured to: capture an image of a preset range of the entrance position using a camera, and obtain the relative position of the target roll and the entrance position through image recognition; The roll gripping module is further configured as follows: Identify the shape of the target roll in the image to determine its parking orientation; Based on the parking orientation of the target roll, the gripping direction of the handling robot is controlled to be the radial direction of the target roll, and the distance between the gripping point of the handling robot and the end of the target roll is less than a preset distance; The roll placement module is further configured as follows: Obtain the available shelf space on the target shelf; Obtain the diameter of the rolls placed in the adjacent layers of the free layer; The empty layer corresponding to the one where the diameter of one of the adjacent rollers is greater than the diameter of the target roller and the other is smaller than the diameter of the target roller is designated as the target empty layer. The target roller is placed in the target empty layer, and the number information of the target shelf and the target empty layer is entered into the label of the target roller.

7. A computer readable storage medium characterized in that, The storage medium stores a computer program for performing the method described in any one of claims 1-5.

8. An electronic device, comprising: include: processor; Memory used to store the processor's executable instructions; The processor is used to execute the method described in any one of claims 1-5.

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