Material weighing and conveying control method and system

Abstract

The application discloses a material weighing and conveying control method and system, and relates to the technical field of adaptive control systems. The method comprises the following steps: setting a visual positioning mark in a unloading area, and configuring an identification code for the material; establishing an information management database, associating the identification code of the material with the material attribute, and generating a material attribute association table; collecting the identification code of the material, and calling the material attribute association table based on the identification code; based on the information management database, obtaining a production line state table of each production line and a warehouse state table of a current warehouse, generating a candidate transportation list, determining the comprehensive priority score of each candidate transportation target point, and selecting the candidate transportation target point with the highest score as the final transportation target point. Compared with the fixed rule scheduling in the prior art, the application can dynamically allocate the material transportation target according to the real-time production demand, avoid manual intervention, improve the logistics efficiency, preferentially distribute the high-demand materials, and prevent production interruption caused by material shortage.

Description

Technical Field

[0001] This invention relates to the field of adaptive control system technology, specifically to a material weighing and conveying control method and system. Background Technology

[0002] In the fields of industrial production and warehousing logistics, forklifts are the core equipment for material handling, and their level of intelligence directly affects logistics efficiency and operational safety.

[0003] However, existing forklift systems rely primarily on human experience or preset rules for material delivery decisions, lacking the ability to perceive and adapt to changes in the production environment in real time. For example, when there is a sudden emergency material shortage on the production line, dynamic changes in warehouse capacity, or adjustments to logistics task priorities, traditional systems cannot optimize transportation strategies based on real-time operating conditions, leading to unreasonable allocation of logistics resources, delayed response, and impacting overall production efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a material weighing and conveying control method and system to solve the problems mentioned in the background art.

[0005] In a first aspect, one embodiment of this application provides a material weighing and conveying control method, which includes: setting visual positioning markers in the unloading area and configuring identification codes for the materials; establishing an information management database, associating the identification codes of the materials with material attributes, and generating a material association attribute table, the material association attribute table including at least material type, material weight, expiration date, and material priority; collecting the identification codes of the materials and retrieving the material association attribute table based on the identification codes; obtaining the production line status table of each production line and the warehouse status table of the current warehouse based on the information management database, and generating a candidate transportation list including N candidate transportation target points according to the material association attribute table, where N≥1; determining the comprehensive priority score of each candidate transportation target point based on the production line status table and the warehouse status table of each production line, and selecting the candidate transportation target point with the highest score as the final transportation target point;

[0006] The real-time pressure distribution matrix of the fork plane is obtained by a distributed pressure sensor array, and the pressure distribution matrix represents the weight of the material.

[0007] Based on the pressure distribution matrix, calculate the coordinates of the material's center of gravity and the offset of the material's center of gravity relative to the geometric center of the fork. ;

[0008] Based on the path attributes of the final transport destination, calculate the instantaneous sway index of the forks when turning. Among them, based on the path attributes of the final transportation destination, the instantaneous sway index of the forks when turning is calculated. Path attributes include turning radius and road surface type, including: obtaining the forklift's three-axis acceleration ( ) and angular velocity ( The acceleration and angular velocity are obtained in real time by inertial measurement units deployed on the forklift; based on the road surface type and turning radius corresponding to the final transport target point, the forklift's three-axis acceleration ( ) and angular velocity ( The instantaneous sway index of the forks during turning is obtained. Instantaneous shaking index The calculation formula is:

[0009] ;

[0010] Based on different weight ranges and route types, the instantaneous sway index recorded during historical transportation was analyzed. Perform categorized statistics and record the maximum sway index in each category combination. Maximum sway index It is used to characterize the maximum instantaneous swaying capacity that the forks can withstand under a specific weight range and a specific path type;

[0011] Based on the center of gravity offset of the material relative to the geometric center of the forks and maximum sway index A tilt probability model is constructed to predict the tilt probability of materials during transportation. tilt probability The calculation formula is:

[0012] , It is the stability coefficient;

[0013] When the tilt probability When the first threshold range is met, a speed reduction command is sent to limit the forklift's travel speed and prohibit the lifting of the forks.

[0014] When the tilt probability When the second threshold range is met, a center of gravity offset warning message, including adjustment suggestions, is displayed on the forklift's touchscreen interface;

[0015] When the tilt probability When the third threshold range is met, the audible and visual alarm device is triggered, alarming intermittently at a preset frequency, and the center of gravity offset is displayed on the screen in real time. The numerical value and direction indication.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, based on the production line status table and warehouse status table of each production line, a comprehensive priority score for each candidate transportation target point is determined, and the candidate transportation target point with the highest score is selected as the final transportation target point. This includes: calculating the urgency, material utility, and storage pressure of each candidate transportation target point, wherein the urgency is calculated based on the ratio of the demand for replenished materials to the amount of remaining materials, the material utility is calculated based on the remaining days of the material's shelf life, and the storage pressure is calculated based on the ratio of the remaining material capacity to the total warehouse capacity; based on the urgency, material utility, and storage pressure of each candidate transportation target point, a weighted priority formula is used to calculate the comprehensive priority score of each candidate transportation target point; the comprehensive priority scores of each candidate transportation target point are sorted, and the candidate transportation target point with the highest score is selected as the final transportation target point.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, based on the information management database, the production line status table of each production line and the warehouse status table of the current warehouse are obtained. A candidate transportation list including N candidate transportation target points is generated according to the material association attribute table. This includes: querying the information management database using the material identification code to obtain the production line status table of each production line and the warehouse status table of the current warehouse in real time. The production line status table includes planned demand, remaining material quantity, types of materials to be replenished, equipment operating status, and data generation timestamps. The warehouse status table includes total warehouse capacity, current remaining material capacity, material shelf coordinates, and empty shelf coordinates. Based on the material priority data in the material association attribute table, N candidate transportation target points are selected to generate the candidate transportation list.

[0018] Secondly, one embodiment of this application provides a material weighing and conveying control system for implementing the material weighing and conveying control method mentioned in the first aspect. The system includes: an identification configuration module for setting visual positioning markers in the unloading area and configuring identification codes for materials; an information management database for associating material identification codes with material attributes to generate a material association attribute table, which includes at least material type, material weight, expiration date, and material priority; a first data acquisition module for acquiring material identification codes and retrieving the material association attribute table based on the identification codes; a control unit for obtaining production line status tables for each production line and the current warehouse status table based on the information management database, and generating a candidate transportation list including N candidate transportation target points, where N≥1, according to the material association attribute table; and an edge computing unit for determining the comprehensive priority score of each candidate transportation target point based on the production line status table and the warehouse status table, and selecting the candidate transportation target point with the highest score as the final transportation target point.

[0019] In conjunction with the second aspect, in some implementations of the second aspect, the system further includes a second data acquisition module, which is used to acquire a real-time pressure distribution matrix of the fork plane through a distributed pressure sensor array, wherein the pressure distribution matrix represents the weight of the material; the control unit is also used to predict the probability of tilting of the material during transportation based on the pressure distribution matrix and the path attributes of the final transportation target point.

[0020] In conjunction with the second aspect, in some implementations of the second aspect, the system further includes an execution module, which includes a motor controller, a hydraulic system controller, a touch screen terminal, and audio-visual equipment; the motor controller is used to adjust the forklift travel speed; the hydraulic system controller is used to control the fork lifting pressure and action limits; the touch screen terminal is used to display the path, alarm information, and operation instructions; the audio-visual equipment includes a buzzer and light strips, and the audio-visual equipment is used for multi-level early warning prompts.

[0021] The material weighing and conveying control method provided in this application calculates the final transportation target point by comprehensively considering the production line status and warehouse status, and dynamically allocates material transportation targets. Compared with the scheduling based on fixed rules in traditional technologies, this application can automatically adapt to complex scenarios such as emergency material shortages and changes in warehouse capacity, avoid manual intervention, improve logistics efficiency, prioritize the delivery of high-demand materials, and prevent production interruptions caused by material shortages. Attached Figure Description

[0022] Figure 1 The diagram shown is a schematic flowchart of a material weighing and conveying control method provided in an embodiment of this application.

[0023] Figure 2 The diagram shown is a schematic flowchart of a material weighing and conveying control method provided in another exemplary embodiment of this application.

[0024] Figure 3 The diagram shown is a schematic flowchart of a material weighing and conveying control method provided in another exemplary embodiment of this application.

[0025] Figure 4 The diagram shown is a schematic flowchart of a material weighing and conveying control method provided in another exemplary embodiment of this application.

[0026] Figure 5 The diagram shown is a schematic flowchart of a material weighing and conveying control method provided in another exemplary embodiment of this application.

[0027] Figure 6 The diagram shown is a schematic flowchart of a material weighing and conveying control method provided in another exemplary embodiment of this application.

[0028] Figure 7 The diagram shown is a schematic diagram of the material weighing and conveying control system provided in an exemplary embodiment of the present invention.

[0029] Figure 8 The diagram shown is a structural schematic of a material weighing and conveying control system provided in another exemplary embodiment of the present invention. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] The following is combined with Figures 1 to 6 The material weighing and conveying control method provided in this application is described in detail.

[0032] Figure 1 The diagram shown is a schematic flow chart of a material weighing and conveying control method provided in an embodiment of this application. Figure 1 As shown in the embodiments of this application, the material weighing and conveying control method includes the following steps.

[0033] Step 100: Set up visual positioning signs in the unloading area and assign identification codes to the materials.

[0034] Specifically, AprilTag visual markers can be laid on the ground in the unloading area to help forklifts locate the unloading point. An industrial IoT gateway is deployed at the unloading point to push a list of materials to be transported to the forklifts via the Message Queuing Telemetry Transport (MQTT) protocol.

[0035] It should be understood that each material corresponds to a different and unique identification code, which is affixed to a prominent location on the material packaging for quick scanning and identification. The identification code uses the international standard GS1-128 encoding and includes fields such as material type, batch number, and expiration date.

[0036] Step 101: Establish an information management database, associate the material identification code with the material attributes, and generate a material association attribute table.

[0037] Specifically, in the information management database, the material identification code is associated with attributes such as material type, weight, expiration date, and material priority. The weight attribute is a preset value, which is updated to the actual weight value after the forklift weighs the material and then updates the information management database. The material priority is calculated based on multi-dimensional priorities; the material priority is updated each time the same type of material is transported, meaning the material priority attribute in the material association attribute table reflects the data from the last transport of the same type of material.

[0038] Step 102: Collect the material identification code and retrieve the material association attribute table based on the identification code.

[0039] In one embodiment, after capturing an image using a camera, the image is processed by grayscale and binarization using an open-source computer vision library (OpenCV). The image is then parsed using a barcode and QR code scanner (ZBar) to extract the material ID. The forklift terminal can then access an information management database, send the material ID, and retrieve a material association attribute table. This material association attribute table can be a structured data packet in JSON format.

[0040] Step 103: Based on the information management database, obtain the production line status table of each production line and the warehouse status table of the current warehouse, and generate a candidate transportation list including N candidate transportation target points according to the material association attribute table.

[0041] For example, the production line status table includes planned demand, remaining material quantity, types of materials to be replenished, equipment operating status, and data generation timestamp.

[0042] For example, the warehouse status table includes the total warehouse capacity, the current remaining capacity of materials, the coordinates of the material shelves, and the coordinates of the empty shelves.

[0043] Step 104: Based on the production line status table and warehouse status table of each production line, determine the comprehensive priority score of each candidate transportation target point, and select the candidate transportation target point with the highest score as the final transportation target point.

[0044] Specifically, a candidate transportation list is generated based on the production line status table and the warehouse status table, the comprehensive priority score of each candidate transportation target point is calculated, and the final transportation target point is selected.

[0045] The material weighing and conveying control method provided in this application calculates the final transportation target point by comprehensively considering the production line status and warehouse status, and dynamically allocates material transportation targets. Compared with the scheduling based on fixed rules in traditional technologies, this application can automatically adapt to complex scenarios such as emergency material shortages and changes in warehouse capacity, avoid manual intervention, improve logistics efficiency, prioritize the delivery of high-demand materials, and prevent production interruptions caused by material shortages.

[0046] Figure 2 The diagram shown is a schematic flow chart of a material weighing and conveying control method provided in another exemplary embodiment of this application. Figure 1 This application extends from the embodiments shown. Figure 2 The illustrated embodiment will be described in detail below. Figure 2 The illustrated embodiments and Figure 1 The differences between the embodiments shown are not repeated here, and the similarities are not repeated here.

[0047] like Figure 2 As shown, in the material weighing and conveying control method provided in this application embodiment, after determining the comprehensive priority score of each candidate transportation target point based on the production line status table and warehouse status table of each production line, and selecting the candidate transportation target point with the highest score as the final transportation target point (step 104), the following steps are also included.

[0048] Step 200: Obtain the real-time pressure distribution matrix of the fork plane through a distributed pressure sensor array.

[0049] For example, the pressure distribution matrix includes the pressure values ​​of each sensor. and its pre-stored coordinates The pressure distribution matrix is ​​obtained through a distributed pressure sensor array on the fork surface. The pressure distribution matrix represents the weight of the material.

[0050] Step 201: Based on the pressure distribution matrix and the path attributes of the final transportation target point, predict the probability of material tilting during transportation.

[0051] The material weighing and conveying control method provided in this application embodiment monitors the material weight distribution in real time through a pressure sensor array on the forks, calculates the current stability state, predicts the impact of different road sections on the material inertia based on the path characteristics of the final transportation target point, integrates pressure distribution data and path dynamic parameters, and outputs the tilt probability of the material during transportation, effectively reducing the material overturning accident rate during transportation and improving operational safety.

[0052] Figure 3 The diagram shown is a schematic flow chart of a material weighing and conveying control method provided in another exemplary embodiment of this application. Figure 1 This application extends from the embodiments shown. Figure 3 The illustrated embodiment will be described in detail below. Figure 3 The illustrated embodiments and Figure 1 The differences between the embodiments shown are not repeated here, and the similarities are not repeated here.

[0053] like Figure 3 As shown in the embodiment of this application, the material weighing and conveying control method determines the comprehensive priority score of each candidate transportation target point based on the production line status table and warehouse status table of each production line, and selects the candidate transportation target point with the highest score as the final transportation target point (step 104), including the following steps.

[0054] Step 300: Calculate the urgency, material utility, and storage pressure of each candidate transportation destination.

[0055] Among them, the urgency level is calculated based on the ratio of the demand for replenished materials to the amount of remaining materials, the material utility is calculated based on the remaining days of the material's shelf life, and the storage pressure is calculated based on the ratio of the remaining material capacity to the total warehouse capacity.

[0056] Step 301: Based on the urgency, material utility, and storage pressure of each candidate transportation destination, a weighted priority formula is used to calculate the comprehensive priority score of each candidate transportation destination.

[0057] Step 302: Sort the comprehensive priority scores of each candidate transportation target point and select the candidate transportation target point with the highest score as the final transportation target point.

[0058] In one specific embodiment, the urgency of candidate transport destination i in the candidate list is calculated using formula (1), which is:

[0059] (1)

[0060] in, The closer it is to 1, the more urgent it becomes.

[0061] The material utility of candidate transport destination i in the candidate list is calculated using formula (2), which is:

[0062] (2)

[0063] The remaining days of validity are the difference between the material's expiration date and the timestamp. A larger value indicates that it should be used first.

[0064] The storage pressure of candidate transport destination i in the candidate list is calculated by formula (3), which is:

[0065] (3)

[0066] in, The closer the value is to 1, the more priority it should be for storage.

[0067] For each candidate target point i, extract from the input data The value is substituted into formula (4) to calculate the priority of each candidate transport target point. The value, the formula (4) is:

[0068] (4)

[0069] in, These are weighting coefficients, optimized through training on historical operational data. (Based on each...) Candidate transport destinations are sorted in descending order of their scores, and the highest score is selected as the final transport destination. Based on the final destination, the corresponding path coordinate sequence is retrieved from the database, where the path coordinate sequence consists of fixed path coordinates pre-stored in the information management database for each destination.

[0070] The material weighing and conveying control method provided in this application dynamically calculates the urgency, material utility, and storage pressure of each candidate transportation target point, and uses a weighted priority formula for comprehensive scoring. This achieves intelligent transportation decision optimization, enabling real-time response to changes in the production site and prioritizing critical transportation tasks with high demand, easy expiration, or tight storage capacity. It avoids the response lag problem caused by fixed rule scheduling in traditional technologies, and significantly improves the rationality of resource allocation through quantitative evaluation. Ultimately, it achieves a significant improvement in the timeliness of production line material supply and a reduction in material expiration and waste.

[0071] Figure 4 The diagram shown is a schematic flow chart of a material weighing and conveying control method provided in another exemplary embodiment of this application. Figure 2 This application extends from the embodiments shown. Figure 4 The illustrated embodiment will be described in detail below. Figure 4 The illustrated embodiments and Figure 2 The differences between the embodiments shown are not repeated here, and the similarities are not repeated here.

[0072] like Figure 4 As shown, the material weighing and conveying control method provided in this application embodiment predicts the tilt probability of the material during the transportation process based on the pressure distribution matrix and the path attributes of the final transportation target point (step 201), including the following steps.

[0073] Step 400: Based on the pressure distribution matrix, calculate the coordinates of the material's center of gravity and the offset of the material's center of gravity relative to the geometric center of the fork.

[0074] The pressure distribution matrix includes the pressure values ​​of each sensor. and its pre-stored coordinates Based on the pressure distribution matrix and material priority, the coordinates of the cargo's center of gravity are calculated using formula (5), which is:

[0075] (5)

[0076] The real-time center of gravity offset Δ is calculated using formula (6), which is:

[0077] (6)

[0078] in These are the coordinates of the fork geometry center pre-stored in the system.

[0079] Step 401: Calculate the instantaneous sway index of the forks when turning, based on the path attributes of the final transportation destination.

[0080] Step 402: Classify and statistically analyze the instantaneous sway index recorded during historical transportation according to different weight ranges and route types, and record the maximum sway index in each classification combination.

[0081] In one specific embodiment, a weighing sensor can be used to collect the weight of the goods on the forks in real time, and the current weight range label (such as "500-1000kg") is transmitted to the PLC. The weight range label is divided according to the rated load of the forklift (0-500kg, 500-1000kg, 1000-1500kg).

[0082] Step 403: Based on the center of gravity offset of the material relative to the geometric center of the fork and the maximum sway index, construct a tilt probability model to predict the tilt probability of the material during transportation.

[0083] The tilt probability is calculated using formula (7), and a tilt probability model is constructed. Formula (7) is as follows:

[0084] (7)

[0085] in, It is the skew probability; It is the stability coefficient. Calibration was achieved through experiments.

[0086] The material weighing and conveying control method provided in this application classifies historical transportation data by weight range and path type, statistically analyzes the maximum instantaneous sway index, and constructs a tilt probability model by combining real-time detected material center of gravity offset. This achieves intelligent prediction and proactive protection of transportation safety, predicts tilt risks in different transportation scenarios in advance, and enables forklifts to automatically trigger speed reduction or balance adjustment on unstable road sections such as turns and slopes. The material overturning accident rate during transportation is significantly reduced, achieving a synergistic improvement in safety and operational efficiency.

[0087] Figure 5 The diagram shown is a schematic flow chart of a material weighing and conveying control method provided in another exemplary embodiment of this application. Figure 4 This application extends from the embodiments shown. Figure 5 The illustrated embodiment will be described in detail below. Figure 5 The illustrated embodiments and Figure 4 The differences between the embodiments shown are not repeated here, and the similarities are not repeated here.

[0088] like Figure 5As shown in the embodiment of this application, in the material weighing and conveying control method, the instantaneous sway index of the fork when turning is calculated based on the path attributes of the final transportation target point (step 401). The path attributes include the turning radius and the road surface type, and include the following steps.

[0089] Step 500: Obtain the three-axis acceleration and angular velocity of the forklift.

[0090] Step 501: Based on the road surface type and turning radius corresponding to the final transportation target point, as well as the three-axis acceleration and angular velocity of the forklift, obtain the instantaneous sway index of the forks when turning.

[0091] Specifically, forklift three-axis acceleration and angular velocity Among them, acceleration and angular velocity are obtained in real time by inertial measurement unit, which quantifies the degree of swaying of the path to the final transport target point, and instantaneous sway index. Calculated using formula (8), which is:

[0092] (8)

[0093] Among them, w z It is the angular velocity about the vertical axis, which physically means that it increases the risk of swaying when turning; It is the turning radius; It is gravitational acceleration; It is the influence coefficient of centrifugal force. The default value is 0.2.

[0094] The material weighing and conveying control method provided in this application uses an inertial measurement unit to monitor the three-axis acceleration and angular velocity of the forklift in real time. Combined with the road surface type and turning radius parameters of the transportation path, it dynamically calculates the instantaneous sway index of the forks, realizing a precise quantitative assessment of the stability of the transportation process. It can accurately identify the instability trend of the forks under complex working conditions such as turning and bumping. Compared with the traditional static weighing system, it can predict potential overturning risks in advance and provide key data support for active safety control.

[0095] In one embodiment of the application, after constructing a tilt probability model based on the center of gravity offset of the material relative to the geometric center of the forks and the maximum sway index, the following steps are further included: calculating the current tilt probability using the tilt probability model; when the tilt probability meets the first threshold range, limiting the forklift's travel speed and prohibiting fork lifting operations by sending a speed reduction command; when the tilt probability meets the second threshold range, displaying a center of gravity offset warning message including adjustment suggestions on the forklift's touchscreen interface; and when the tilt probability meets the third threshold range, triggering an audible and visual alarm device to intermittently alarm at a preset frequency and displaying the value and direction indication of the center of gravity offset on the display screen in real time. The first threshold range can be 0.8-1, the second threshold range can be 0.6-0.8, and the third threshold range can be 0.4-0.6.

[0096] Specifically, different weights, paths, and shaking scenarios were simulated in a laboratory environment. The correspondence between actual tilting events and Δ / Smax was recorded, and the relationship was determined through linear regression. , making This corresponds to the actual tilt critical point; if the tilt probability If the forks tilt, a level three warning is triggered, forcibly reducing the speed to 0.3 m / s and prohibiting fork lifting. The speed reduction command is sent from the PLC to the motor controller; the prohibition command is sent from the PLC to the hydraulic system controller. If the tilt probability is high, a level 2 warning will be triggered, and the touchscreen will display "Center of gravity shifted, adjustment recommended"; If the alarm is triggered, a level one warning will be activated, the buzzer will sound intermittently, and the screen will display the offset. The alarm signal is sent to the audio-visual equipment via the CAN bus.

[0097] The material weighing and conveying control method provided in this application embodiment realizes intelligent hierarchical management of tilting risk during forklift transportation by constructing a three-level safety response mechanism. It can automatically trigger differentiated protection strategies based on the real-time calculated tilting probability, forming a three-level protection system, which significantly improves the safety of operation under high-risk conditions.

[0098] Figure 6 The diagram shown is a schematic flow chart of a material weighing and conveying control method provided in another exemplary embodiment of this application. Figure 1 This application extends from the embodiments shown. Figure 6 The illustrated embodiment will be described in detail below. Figure 6 The illustrated embodiments and Figure 1 The differences between the embodiments shown are not repeated here, and the similarities are not repeated here.

[0099] like Figure 6As shown in the embodiment of this application, the material weighing and conveying control method obtains the production line status table of each production line and the warehouse status table of the current warehouse based on the information management database, and generates a candidate transportation list including N candidate transportation target points according to the material association attribute table (step 103), including the following steps.

[0100] Step 600: Query the information management database using the material identification code to obtain the production line status table for each production line and the warehouse status table for the current warehouse in real time.

[0101] Step 601: Based on the material priority data in the material association attribute table, filter N candidate transportation target points and generate a candidate transportation list.

[0102] Specifically, the system queries the information management database, matches material identification codes, and retrieves the production line status table for each production line. This table includes planned demand, remaining material quantity, types of materials to be replenished, equipment status (running / stopped), and the timestamp of the table's creation. It also queries the information management database, matches material identification codes, and retrieves the warehouse status table for the current warehouse. This table includes total capacity, remaining material capacity, material shelf coordinates, and empty shelf coordinates. Based on the material priority in the material identification code association attribute table, candidate transport destinations are filtered, generating a candidate transport list. The system queries the production line status table for each production line. If a particular production line has a material type to be replenished that is not in the candidate transport list, it is added to the candidate transport list. Finally, the system queries the production line status table for each production line. If the equipment status of a candidate transport destination is stopped, that candidate transport destination is removed from the candidate transport list.

[0103] The material weighing and conveying control method provided in this application uses material identification codes to link to an information management database in real time, dynamically acquires production line and warehouse status data, and intelligently filters data based on historical transportation priorities, achieving precise matching and optimized decision-making for transportation target points. This application can also automatically generate a candidate transportation list, significantly improving target point screening efficiency compared to traditional manual scheduling methods. Simultaneously, it ensures that transportation decisions are always synchronized with the latest production status, greatly shortening emergency material delivery response time and significantly improving logistics collaboration efficiency in a smart manufacturing environment.

[0104] Figure 7 The diagram shown is a structural schematic of a material weighing and conveying control system provided in an exemplary embodiment of the present invention. Figure 7 As shown, the material weighing and conveying control system provided in this embodiment of the invention includes: an identification configuration module 700, an information management database 701, a first data acquisition module 702, a control unit 703, and an edge computing unit 704.

[0105] The identification configuration module 700 is used to set visual positioning signs in the unloading area and configure identification codes for materials. The information management database 701 is used to associate the material identification codes with material attributes, generating a material association attribute table, which includes at least the material type, material weight, expiration date, and material priority. The first data acquisition module 702 is used to collect the material identification codes and retrieve the material association attribute table based on the identification codes. The control unit 703 is used to obtain the production line status tables of each production line and the current warehouse status table based on the information management database, and generate a candidate transportation list including N candidate transportation target points, where N≥1, based on the material association attribute table. The edge computing unit 704 is used to determine the comprehensive priority score of each candidate transportation target point based on the production line status tables and warehouse status tables of each production line, and select the candidate transportation target point with the highest score as the final transportation target point.

[0106] Figure 8 The diagram shown is a structural schematic of a material weighing and conveying control system provided in another exemplary embodiment of the present invention. Figure 8 As shown, the material weighing and conveying control system provided in this embodiment of the invention further includes a second data acquisition module 705. The second data acquisition module 705 is used to acquire the real-time pressure distribution matrix of the fork plane through a distributed pressure sensor array. The pressure distribution matrix represents the weight of the material. The control unit 704 is also used to predict the tilt probability of the material during transportation based on the pressure distribution matrix and the path attributes of the final transportation target point.

[0107] In some embodiments, the system further includes an execution module, which includes a motor controller, a hydraulic system controller, a touch screen terminal, and an audio-visual device; the motor controller is used to adjust the forklift travel speed; the hydraulic system controller is used to control the fork lifting pressure and movement limits; the touch screen terminal is used to display the path, alarm information, and operation instructions; the audio-visual device includes a buzzer and a light strip, and the audio-visual device is used for multi-level early warning prompts.

[0108] In addition to the methods and devices described above, embodiments of the present invention 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 material weighing and conveying control methods according to various embodiments of the present invention described in the "Exemplary Methods" section of this specification.

[0109] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of the present invention. 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.

[0110] Furthermore, embodiments of the present invention 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 material weighing and conveying control methods according to various embodiments of the present invention described in the "Exemplary Methods" section above.

[0111] 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.

[0112] The basic principles of the present invention have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in the present invention are merely examples and not limitations, and should not be considered as essential features of each embodiment of the present invention. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the present invention to the necessity of employing the aforementioned specific details.

[0113] The block diagrams of devices, apparatuses, devices, and systems involved in this invention 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.

[0114] It should also be noted that in the apparatus, device, and method of the present invention, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of the present invention.

[0115] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the invention. 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 the invention. Therefore, the invention is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0116] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the invention to the forms described 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 therein.

Claims

1. A method for controlling the weighing and conveying of materials, characterized in that, include: Visual positioning signs should be installed in the unloading area, and identification codes should be assigned to the materials. Establish an information management database, associate the material identification code with the material attributes, and generate a material association attribute table. The material association attribute table includes at least the material type, material weight, expiration date, and material priority. Collect the identification code of the material, and retrieve the material's associated attribute table based on the identification code; Based on the information management database, obtain the production line status table of each production line and the warehouse status table of the current warehouse, and generate a candidate transportation list including N candidate transportation target points according to the material association attribute table, where N≥1; Based on the production line status table and the warehouse status table, the comprehensive priority score of each candidate transportation target point is determined, and the candidate transportation target point with the highest score is selected as the final transportation target point. The real-time pressure distribution matrix of the fork plane is obtained by a distributed pressure sensor array, and the pressure distribution matrix represents the weight of the material. Based on the pressure distribution matrix, calculate the coordinates of the material's center of gravity and the offset of the material's center of gravity relative to the geometric center of the fork. ; Based on the path attributes of the final transportation destination, calculate the instantaneous sway index of the forks when turning. The step of calculating the instantaneous sway index of the forks when turning is based on the path attributes of the final transportation destination. The path attributes include turning radius and road surface type, including: obtaining the forklift's three-axis acceleration ( ) and angular velocity ( The acceleration and angular velocity are obtained in real time by an inertial measurement unit deployed on the forklift; based on the road surface type and turning radius corresponding to the final transport target point, the forklift's three-axis acceleration ( ) and angular velocity ( The instantaneous sway index of the forks during turning is obtained. The instantaneous sway index The calculation formula is: ； in, It is the angular velocity about the vertical axis; It is the turning radius; It is gravitational acceleration; It is the influence coefficient of centrifugal force; Based on different weight ranges and route types, the instantaneous sway index recorded during historical transportation was analyzed. Perform categorized statistics and record the maximum sway index in each category combination. ; Based on the center of gravity offset of the material relative to the geometric center of the forks and the maximum sway index A tilt probability model is constructed to predict the tilt probability of the material during transportation. The tilt probability The calculation formula is: , It is the stability coefficient; When the tilt probability When the first threshold range is met, a speed reduction command is sent to limit the forklift's travel speed and prohibit the lifting operation of the forks; When the tilt probability When the second threshold range is met, a center of gravity offset warning message including adjustment suggestions is displayed on the touch screen interface of the forklift. When the tilt probability When the third threshold range is met, the audible and visual alarm device is triggered, alarming intermittently at a preset frequency, and the center of gravity offset is displayed in real time on the display screen. The numerical value and direction indication.

2. The material weighing and conveying control method according to claim 1, characterized in that, Based on the production line status table and the warehouse status table, a comprehensive priority score is determined for each candidate transportation target point, and the candidate transportation target point with the highest score is selected as the final transportation target point, including: The urgency, material utility, and storage pressure of each candidate transportation destination are calculated respectively. The urgency is calculated based on the ratio of the demand for replenished materials to the amount of remaining materials. The material utility is calculated based on the remaining days of the material's shelf life. The storage pressure is calculated based on the ratio of the remaining material capacity to the total warehouse capacity. Based on the urgency, material utility, and warehousing pressure of each candidate transportation destination, a weighted priority formula is used to calculate the comprehensive priority score of each candidate transportation destination. The comprehensive priority scores of each candidate transportation destination are sorted, and the candidate transportation destination with the highest score is selected as the final transportation destination.

3. The material weighing and conveying control method according to claim 1, characterized in that, Based on the information management database, the process involves obtaining the production line status table for each production line and the warehouse status table for the current warehouse, and generating a candidate transportation list including N candidate transportation destinations based on the material association attribute table. By querying the information management database using the material identification code, the production line status table of each production line and the warehouse status table of the current warehouse can be obtained in real time. The production line status table includes planned demand, remaining material quantity, types of materials to be replenished, equipment operating status and data generation timestamp. The warehouse status table includes total warehouse capacity, current remaining material capacity, material shelf coordinates and empty shelf coordinates. Based on the material priority data in the material association attribute table, the N candidate transportation destinations are filtered to generate the candidate transportation list.

4. A material weighing and conveying control system, used to implement the material weighing and conveying control method according to any one of claims 1 to 3, characterized in that, include: The identification configuration module is used to set visual positioning signs in the unloading area and configure identification codes for materials; An information management database is used to associate the identification code of the material with the material attributes to generate a material association attribute table. The material association attribute table includes at least the material type, material weight, expiration date and material priority. The first data acquisition module is used to acquire the identification code of the material and retrieve the material's associated attribute table based on the identification code; The control unit is used to obtain the production line status table of each production line and the warehouse status table of the current warehouse based on the information management database, and generate a candidate transportation list including N candidate transportation target points according to the material association attribute table, where N≥1; The edge computing unit is used to determine the comprehensive priority score of each candidate transportation target point based on the production line status table and the warehouse status table, and select the candidate transportation target point with the highest score as the final transportation target point.

5. The material weighing and conveying control system according to claim 4, characterized in that, It also includes a second data acquisition module, used to acquire a real-time pressure distribution matrix of the fork plane through a distributed pressure sensor array, the pressure distribution matrix representing the weight of the material; the control unit is also used to predict the tilt probability of the material during transportation based on the pressure distribution matrix and the path attributes of the final transportation target point.

6. The material weighing and conveying control system according to claim 4, characterized in that, It also includes an execution module, which comprises a motor controller, a hydraulic system controller, a touch screen terminal, and an audio-visual device; the motor controller is used to adjust the forklift's travel speed; the hydraulic system controller is used to control the fork lifting pressure and movement limits; the touch screen terminal is used to display the path, alarm information, and operation instructions; the audio-visual device includes a buzzer and a light strip, and the audio-visual device is used for multi-level early warning prompts.

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