Intelligent coil stock management method and system for stereoscopic warehouse

Abstract

The invention relates to the technical field of three-dimensional warehouse management, and particularly provides an intelligent roll material management method and system for a three-dimensional warehouse, and the method comprises the steps: obtaining a roll material data set of the three-dimensional warehouse when a delivery request is received, the roll material data set comprising storage duration information and storage allocation position information corresponding to different roll materials in the three-dimensional warehouse; obtaining a warehouse-out priority score corresponding to each roll material according to the storage duration information; determining a target shipment roll material according to all the shipment priority scores and the shipment request; according to the storage location position information corresponding to the target shipment roll material and the current position information of the stacking machine, a warehouse-out path is generated; according to the warehouse-out path, the stacking machine is controlled to carry out warehouse-out on the target goods-out roll materials; the method can effectively solve the problem that the performance of the coil stock is reduced due to the fact that the storage time of the coil stock in the vertical warehouse is too long.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vertical warehouse management, in particular to a coil intelligent management method and system for a vertical warehouse. BACKGROUND

[0002] After completing the longitudinal cutting of silicon steel sheets, the related art needs to put the coil that is not used into the vertical warehouse, and when the coil needs to be used, the coil placed in the vertical warehouse is taken out. Since the related art lacks effective management of the storage time of the coil in the vertical warehouse, that is, when the coil placed in the vertical warehouse is taken out, the related art cannot preferentially take out the coil with a longer storage time, therefore the related art has the problem that the performance of the coil is reduced due to the long storage time of the coil in the vertical warehouse, thereby affecting the performance of the electronic device made of the coil.

[0003] For the above problems, there is currently no effective technical solution. It should be noted that the above information disclosed in this part is only used to understand the background of the present application concept, and therefore can contain information that does not constitute prior art. SUMMARY

[0004] The purpose of the present application is to provide a coil intelligent management method and system for a vertical warehouse, which can effectively solve the problem that the performance of the coil is reduced due to the long storage time of the coil in the vertical warehouse.

[0005] In a first aspect, the present application provides a coil intelligent management method for a vertical warehouse, comprising the following steps: S1, upon receiving a delivery request, obtaining a coil data set of the vertical warehouse, the coil data set comprising storage time information and storage location information corresponding to different coils in the vertical warehouse; S2, obtaining the out-of-warehouse priority score corresponding to each coil according to the storage time information; S3, determining a target delivery coil according to all out-of-warehouse priority scores and the delivery request; S4, generating an out-of-warehouse path according to the storage location information corresponding to the target delivery coil and the current position information of the stacker crane; S5, controlling the stacker crane to take out the target delivery coil according to the out-of-warehouse path.

[0006] The application provides a roll stock intelligent management method for a vertical warehouse. The method realizes the picking of roll stock with a long storage time by first obtaining a picking priority score of the roll stock according to storage time information and then determining a target delivery roll stock based on the picking priority score. The application can actively identify and process roll stock with a long storage time, thereby effectively solving the problem of performance degradation of roll stock due to a long storage time in the vertical warehouse, and effectively improving the performance of electronic devices made of roll stock.

[0007] Optionally, step S4 comprises: S41, randomly generating a plurality of candidate paths according to the storage location information corresponding to the target delivery roll stock and the current position information of the stacker; S42, for each candidate path, performing picking simulation according to the candidate path and the first weight information of the target delivery roll stock to obtain the predicted picking time consumption and the predicted picking energy consumption of the candidate path; S43, for each candidate path, calculating the picking score according to the corresponding predicted picking time consumption and predicted picking energy consumption and the first preset weighting weight combination, the picking score being negatively correlated with the predicted picking time consumption and the predicted picking energy consumption; S44, selecting a picking path from all candidate paths according to all picking scores.

[0008] Optionally, the picking request comprises a picking remaining time, and step S43 comprises: S431, for each candidate path, analyzing whether the predicted picking time consumption is greater than the picking remaining time, if yes, performing step S432, and if no, performing step S433; S432, for each candidate path, determining an overtime penalty value according to the deviation between the corresponding predicted picking time consumption and the picking remaining time, and then calculating the picking score according to the predicted picking time consumption, the predicted picking energy consumption, the overtime penalty value and the first preset weighting weight combination, the picking score being negatively correlated with the predicted picking time consumption, the predicted picking energy consumption and the overtime penalty value; S433, for each candidate path, calculating the picking score according to the corresponding predicted picking time consumption and predicted picking energy consumption and the first preset weighting weight combination.

[0009] Optionally, the first preset weighting weight corresponding to the predicted picking time consumption is smaller than the first preset weighting weight corresponding to the overtime penalty value and larger than the first preset weighting weight corresponding to the predicted picking energy consumption.

[0010] Optionally, step S41 comprises: S411, randomly generating a plurality of candidate paths according to the storage location information corresponding to the target delivery roll stock and the current position information of the stacker; S412, obtaining the current high-load area of the vertical warehouse; S413, remove the candidate path passing through the current high load area.

[0011] Optionally, when the number of target outbound rolls is multiple, step S5 comprises: S51, analyze whether the total weight of the multiple target outbound rolls reaches the preset maximum load capacity of the stacker, if yes, execute step S52, if no, execute step S53; S52, under the premise that the difference between the single outbound total weight and the preset maximum load capacity is minimized and the single outbound total weight is less than the preset maximum load capacity, control the stacker to carry out the outbound of the target outbound rolls according to the outbound path until all the target outbound rolls are completed, and the single outbound total weight is the total weight of the target outbound rolls being simultaneously outbound; S53, control the stacker to carry out the outbound of the target outbound rolls according to the outbound path.

[0012] Optionally, the roll intelligent management method for the vertical warehouse further comprises the steps of: A1, when receiving the storage request, obtaining second weight information of the roll to be stored; A2, analyzing whether the second weight information is greater than the preset maximum load capacity of the storage location, if yes, generating an alarm information, if no, executing step A3; A3, obtaining weight distribution information of the storage locations of the stored rolls of the vertical warehouse; A4, determining a target storage location according to the weight distribution information of the storage locations of the stored rolls and the second weight information; A5, generating a storage path according to the storage location position information corresponding to the target storage location; A6, controlling the stacker to store the roll to be stored according to the storage path.

[0013] Optionally, step A4 comprises: A41, obtaining storage location position information of multiple empty storage locations on the vertical warehouse; A42, for each empty storage location, simulating the weight distribution of the vertical warehouse after placing the roll to be stored in the empty storage location according to the storage location position information, the weight distribution information of the storage locations of the stored rolls and the second weight information to obtain predicted weight distribution information; A43, selecting the target storage location from all the empty storage locations according to all the predicted weight distribution information.

[0014] Optionally, the roll intelligent management method for the vertical warehouse further comprises the steps of: B1, when storing the roll to be stored or carrying out the outbound of the target outbound roll, obtaining real-time vibration information of the stacker; B2, when the real-time vibration information is less than the preset vibration information, controlling the stacker to store the to-be-stored roll at a first preset speed or to take out the target roll; B3, when the real-time vibration information is greater than or equal to the preset vibration information, controlling the stacker to store the to-be-stored roll at a second preset speed or to take out the target roll, the first preset speed being greater than the second preset speed.

[0015] In a second aspect, the application further provides a roll intelligent management system for a vertical warehouse, comprising: a roll data acquisition module, configured to acquire a roll data set of the vertical warehouse when a delivery request is received, the roll data set comprising storage duration information and storage location information corresponding to different rolls in the vertical warehouse; a priority acquisition module, configured to acquire an out-of-warehouse priority score corresponding to each roll according to the storage duration information; an out-of-warehouse roll confirmation module, configured to determine a target roll according to all out-of-warehouse priority scores and the delivery request; an out-of-warehouse path generation module, configured to generate an out-of-warehouse path according to the storage location information corresponding to the target roll and current position information of the stacker; an out-of-warehouse execution module, configured to control the stacker to take out the target roll according to the out-of-warehouse path.

[0016] The roll intelligent management system for a vertical warehouse provided by the application can actively identify and process long-term accumulated rolls by acquiring an out-of-warehouse priority score of a roll according to storage duration information and determining a target roll based on the out-of-warehouse priority score, so that the application can effectively solve the problem of performance degradation of rolls due to long storage time in the vertical warehouse, thereby effectively improving the performance of electronic devices made of rolls.

[0017] As can be seen from the above, the roll intelligent management method and system for a vertical warehouse provided by the application can actively identify and process long-term accumulated rolls by acquiring an out-of-warehouse priority score of a roll according to storage duration information and determining a target roll based on the out-of-warehouse priority score, so that the application can effectively solve the problem of performance degradation of rolls due to long storage time in the vertical warehouse, thereby effectively improving the performance of electronic devices made of rolls. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A flowchart of a roll intelligent management method for a vertical warehouse provided by an embodiment of the application.

[0019] Figure 2A structural schematic diagram of a coil intelligent management system for a vertical warehouse is provided in the embodiments of the present application.

[0020] The reference numerals: 1, a coil data acquisition module; 2, a priority acquisition module; 3, a warehouse-out coil confirmation module; 4, a warehouse-out path generation module; 5, a warehouse-out execution module. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0022] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms “first”, “second” and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0023] In a first aspect, the present application provides a coil intelligent management method for a vertical warehouse, comprising the following steps: S1, upon receiving a delivery request, acquiring a coil data set of the vertical warehouse, the coil data set comprising storage duration information and storage location information corresponding to different coils in the vertical warehouse; S2, acquiring a warehouse-out priority score corresponding to each coil according to the storage duration information; S3, determining a target delivery coil according to all warehouse-out priority scores and the delivery request; S4, generating a warehouse-out path according to the storage location information corresponding to the target delivery coil and current position information of the stacker crane; S5, controlling the stacker crane to warehouse-out the target delivery coil according to the warehouse-out path.

[0024] The coil intelligent management method for the vertical warehouse provided in the application aims to solve the problem of insufficient management of coil storage time in the prior art. The application realizes optimization of the coil outflow process according to the storage time of the coil in the vertical warehouse by introducing storage time length information and an out-of-warehouse priority scoring mechanism. Therefore, the application can effectively avoid the situation of long-term accumulation of coils, thereby reducing the performance degradation caused by the storage time of the coils as much as possible, thereby effectively improving the management efficiency of the coil and the product quality of the electronic equipment finally manufactured.

[0025] The vertical warehouse of this embodiment is an automated vertical warehouse, which generally includes shelves, stackers, conveying systems, computer control systems, etc., and can realize automatic storage and retrieval of goods (coils). The coil of this embodiment is preferably a silicon steel sheet stored in the form of a coil, which has a certain weight and volume. The stacker of this embodiment is the core equipment in the vertical warehouse, which can drive the coil to move between the shelves to complete the warehousing and out-of-warehouse operations of the coil. The coil data set of this embodiment refers to a set of information about all coils stored in the vertical warehouse stored in the vertical warehouse management system, which can include but is not limited to the unique identification, storage time length, storage location, weight and size of different coils, etc. The storage time length information of this embodiment is the time elapsed since the coil was warehoused. The storage location information of this embodiment is the specific coordinates (such as row, column, layer, etc.) of the coil on the shelves of the vertical warehouse. The out-of-warehouse priority score of this embodiment is a numerical value calculated according to the storage time length of the coil, which can quantify the degree to which the coil needs to be prioritized for out-of-warehouse. The out-of-warehouse request of this embodiment is an instruction issued by an external system or manually, requiring a specific number or weight of coils to be taken out of the vertical warehouse. The target out-of-warehouse coil of this embodiment refers to the coil that needs to be out of warehouse according to the out-of-warehouse request and the priority score. The out-of-warehouse path of this embodiment refers to the trajectory of the stacker moving from the current position to the location of the target out-of-warehouse coil, taking it out, and then moving to the out-of-warehouse port.

[0026] The core of the coil intelligent management method for the vertical warehouse provided by the application lies in the intelligent management of the coil out-of-warehouse process. The method specifically comprises the following steps: when the system receives a shipment request, step S1 acquires the coil data set of the vertical warehouse, which contains detailed information of all coils in the vertical warehouse, including storage duration information and storage location information corresponding to different coils. The coil data set can be acquired in the following ways: 1. The vertical warehouse management system of the application maintains a real-time updated database. The entry time and entry location of each coil are recorded every time the coil is warehoused, and when an out-of-warehouse request is received, the database is queried to obtain the entry time and entry location of all coils, and then the storage duration information is calculated according to the entry time and the current time, and the entry location is taken as the storage location information; 2. A sensor network is deployed in the vertical warehouse to monitor the coils on each location in real time, and upload the storage duration and location information to the central control system. In step S2, the system acquires the out-of-warehouse priority score corresponding to each coil according to the acquired storage duration information. The score aims to quantify the degree to which the coil needs to be prioritized for out-of-warehouse. Specifically, the out-of-warehouse priority score can be acquired according to the storage duration information in the following ways: 1. The storage duration is taken as the priority score, that is, the longer the storage time, the higher the priority score; 2. A plurality of storage duration ranges are set, each corresponding to a priority score, and the priority score corresponding to the storage duration range to which the storage duration information belongs is taken as the out-of-warehouse priority score; 3. The out-of-warehouse priority score is obtained by querying a pre-constructed mapping relationship table between storage duration and priority score according to the storage duration information. In step S3, the system determines the final target shipment coil according to the out-of-warehouse priority scores of all coils and the specific shipment request. For example, if the shipment request specifies the number of coils to be out-of-warehouse, the system selects the coils to be out-of-warehouse in order of high to low out-of-warehouse priority score, for example, when the number of coils to be out-of-warehouse is three, the system selects the three coils with the highest out-of-warehouse priority score as the target shipment coils. In step S4, once the target shipment coil is determined, the system generates an optimal out-of-warehouse path according to the storage location information corresponding to the target shipment coil and the current location information of the stacker crane. Specifically, step S4 can use a shortest path algorithm (such as Dijkstra algorithm) to calculate the shortest path for the stacker crane to move from the current location to the target location (the location of the target shipment coil), take out the target shipment coil, and then move the target shipment coil to the out-of-warehouse port. The application can also pre-store the path information between all locations in the vertical warehouse, and obtain the out-of-warehouse path by direct querying when needed, for example, according to the layout of the vertical warehouse, each location is regarded as a node in the graph, and the channels between the locations are regarded as edges, and then a graph search algorithm is used to generate the out-of-warehouse path.In step S5, the system controls the stacker to perform the outbound operation on the target outbound roll according to the generated outbound path, for example, the control system sends a series of instructions to the stacker, including moving to the target location, retracting the forks, grabbing the target outbound roll, and moving the target outbound roll to the outbound port, etc. Specifically, after receiving the path instructions corresponding to the outbound path, the stacker of this embodiment drives the motor through the internal motion controller, moves along the path according to the preset speed and acceleration curve, and feeds back the position and state information to the control system in real time when performing the outbound operation, so that the control system can make real-time adjustments and monitoring.

[0027] The roll intelligent management method for the vertical warehouse provided in this application realizes intelligent management of rolls in the vertical warehouse by introducing roll storage duration information and calculating outbound priority scores based on the information. When receiving a delivery request, the system no longer selects only according to the type of roll or randomly, but gives priority to rolls that have been stored in the vertical warehouse for a long time. Specifically, first, a roll dataset containing storage duration information and storage location information is obtained. Then, the outbound priority score of each roll is calculated based on the storage duration information, ensuring that the longer the storage time, the higher the priority. Then, in combination with the delivery request and the priority score, the target roll that needs to be prioritized for outbound is determined. Subsequently, an efficient outbound path is generated based on the storage location information of the target roll and the current position information of the stacker. Finally, the stacker is controlled to perform the outbound operation on the target roll according to the generated path. The entire process forms a closed loop, enabling the vertical warehouse management system to actively identify and handle long-term backlog rolls, thereby effectively avoiding the performance degradation problem caused by long storage time of rolls. Each step works closely together to achieve intelligent and efficient management of rolls in the vertical warehouse, improving overall operational efficiency and product quality.

[0028] Compared with the prior art, the coil intelligent management method for the vertical warehouse has obvious advantages and innovations. The traditional existing vertical warehouse management system lacks an effective management mechanism for the storage time of coils when processing the delivery request, resulting in long-term accumulation of some coils in the vertical warehouse, which in turn affects the performance of the coils and the product quality. The core innovation of the present application is to introduce the concepts of "storage time information" and "out-of-warehouse priority score" and integrate them into the decision-making process of the coil delivery. By obtaining the storage time information of the coil in step S1 and calculating the out-of-warehouse priority score based on the information in step S2, the present application can actively identify and prioritize the processing of coils that have been stored in the vertical warehouse for a long time. This mechanism effectively solves the problem of long-term accumulation of coils in the prior art, ensuring the timely turnover of coils and avoiding performance degradation due to long storage time. In addition, when determining the target delivery coil, generating the out-of-warehouse path, and controlling the stacker to deliver, the present application fully considers the priority score to make the entire delivery process more intelligent and efficient. This intelligent management method centered on storage time not only improves the operation efficiency of the vertical warehouse, but more importantly, guarantees the quality of the delivered coils, providing reliable raw materials for subsequent production links, thereby significantly improving the overall production efficiency and product competitiveness.

[0029] In some preferred embodiments, step S4 comprises: S41, randomly generating a plurality of candidate paths according to the storage location information corresponding to the target delivery coil and the current position information of the stacker; S42, for each candidate path, performing delivery simulation according to the candidate path and the first weight information of the target delivery coil to obtain the predicted delivery time and the predicted delivery energy consumption of the candidate path; S43, for each candidate path, calculating the delivery score according to the corresponding predicted delivery time and predicted delivery energy consumption and the first preset weighting weight combination, the delivery score being negatively correlated with the predicted delivery time and the predicted delivery energy consumption; S44, screening the delivery path from all candidate paths according to all delivery scores.

[0030] Step S41 can use an existing path planning algorithm (such as A* algorithm, Dijkstra algorithm or genetic algorithm, etc.) to randomly generate a plurality of candidate paths from the current position of the stacker to the storage location of the target outgoing coil according to the storage location information of the target outgoing coil and the current position information of the stacker, and these candidate paths represent a plurality of possible trajectories of the stacker moving in the warehouse. For each generated candidate path, step S42 will perform a warehouse-out simulation. Since the weight of the coil will directly affect the time and energy consumption of the stacker in the process of moving, lifting, taking and placing, the simulation process will consider the first weight information of the target outgoing coil. Specifically, step S42 can perform warehouse-out simulation based on the kinematic model and dynamic model of the stacker, as well as the physical layout and friction coefficient of the warehouse and other parameters. Step S42 can accurately predict the total time (predicted warehouse-out time) and total energy consumption (predicted warehouse-out energy consumption) required for the stacker to complete the warehouse-out operation along the candidate path through warehouse-out simulation. In step S43, for each candidate path, its predicted warehouse-out time and predicted warehouse-out energy consumption are used to calculate a comprehensive warehouse-out score. The calculation method of this score is based on the first preset weighting weight combination, which means that different performance indicators (such as time and energy consumption) can be given different importance. For example, if more attention is paid to time efficiency, the weight corresponding to the predicted warehouse-out time can be set higher. The warehouse-out score is negatively correlated with the predicted warehouse-out time and the predicted warehouse-out energy consumption, that is, the shorter the time and the lower the energy consumption, the higher the warehouse-out score, and vice versa. After the warehouse-out scores of all candidate paths are calculated, step S44 will filter all candidate paths according to these warehouse-out scores. Preferably, since the candidate path with the highest warehouse-out score is equivalent to the path with the best overall performance under the current weight setting, the candidate path with the highest warehouse-out score is selected as the final warehouse-out path.

[0031] The scheme solves the non-optimal path problem that may exist in the traditional path generation method by introducing a multi-path generation, simulation evaluation and weighted scoring mechanism. Specifically, the scheme expands the range of path selection and avoids local optimization by randomly generating multiple candidate paths. Subsequently, the first weight information of the target outbound roll material is combined to simulate the outbound of each candidate path to accurately predict the outbound time and outbound energy consumption corresponding to each candidate path, thereby providing a quantitative basis for path evaluation. It is due to the comprehensive consideration of time and energy consumption, combined with the first preset weighted weight combination to calculate the outbound score, so that the system can intelligently select the optimal path according to the actual demand (for example, more emphasis on time or energy consumption). Therefore, the scheme can enable the stacker to achieve the expected outbound efficiency and energy consumption target when performing the outbound operation according to the outbound path. Through the above technical scheme, the present application can overcome the drawbacks that may exist in the traditional method in path planning, and significantly improve the intelligent level of the stacker outbound operation. Specifically, by simulating and evaluating multiple candidate paths and weighting the scores, it can be ensured that the selected outbound path is optimal or close to optimal in terms of outbound time and outbound energy consumption, thereby effectively reducing operating costs and improving outbound efficiency. In addition, this method can flexibly optimize path selection according to different business needs (by adjusting the weighted weight), making the stacker management more refined and intelligent.

[0032] In some preferred embodiments, assuming that a roll material with a weight of 500 kg needs to be outbound in the stacker, the stacker is currently located at point A, and the target outbound roll material is located at point B. The system first generates three candidate paths: path 1, path 2 and path 3 according to the location information of points A and B.

[0033] Then, the system performs the simulation of the three paths, for example, for path 1, the simulation result shows that the predicted outbound time consumption is 120 seconds and the predicted outbound energy consumption is 0.8 kWh; for path 2, the simulation result shows that the predicted outbound time consumption is 100 seconds and the predicted outbound energy consumption is 1.0 kWh; for path 3, the simulation result shows that the predicted outbound time consumption is 110 seconds and the predicted outbound energy consumption is 0.7 kWh. Assuming that the first preset weight combination is set as: the time consumption weight is 0.6, the energy consumption weight is 0.4, and the calculation formula of the outbound score is: outbound score = -(time consumption weight x predicted outbound time consumption + energy consumption weight x predicted outbound energy consumption); the outbound score of path 1 = -(0.6 x 120 + 0.4 x 0.8) = -(72 + 0.32) = -72.32; the outbound score of path 2 = -(0.6 x 100 + 0.4 x 1.0) = -(60 + 0.4) = -60.4; the outbound score of path 3 = -(0.6 x 110 + 0.4 x 0.7) = -(66 + 0.28) = -66.28. By comparison, the outbound score of path 2 is the highest (-60.4), therefore, the system selects path 2 as the final outbound path and controls the stacker to perform the outbound operation according to path 2. In this way, even if the energy consumption of path 2 is slightly higher, it is considered to be the path with the optimal comprehensive performance under the current weight setting because it has the shortest time consumption.

[0034] The above embodiment proposes a scheme of calculating the outbound score according to the predicted outbound time consumption and the predicted outbound energy consumption, and selecting the outbound path according to the outbound score. However, in the actual management process of the vertical warehouse, some outbound requests may have strict time limits, for example, the outbound needs to be completed before a specific time point. If the path selection is only based on the predicted outbound time consumption and the predicted outbound energy consumption, the time constraints may not be fully considered, which may cause the outbound operation to be overdue and affect the overall logistics efficiency and customer satisfaction.

[0035] To solve the technical problem, in some preferred embodiments, the outbound request includes an outbound remaining time, and step S43 includes: S431, for each candidate path, analyzing whether the predicted outbound time consumption is greater than the outbound remaining time, if yes, performing step S432, if not, performing step S433; S432, for each candidate path, determining a timeout penalty value according to the deviation between the corresponding predicted outbound time consumption and the outbound remaining time, and then calculating the outbound score according to the predicted outbound time consumption, the predicted outbound energy consumption, the timeout penalty value and the first preset weight combination, the outbound score being negatively correlated with the predicted outbound time consumption, the predicted outbound energy consumption and the timeout penalty value; S433, for each candidate path, calculating the outbound score according to the corresponding predicted outbound time consumption and the predicted outbound energy consumption and the first preset weight combination.

[0036] The delivery remaining time of this embodiment can reflect how much time is needed to complete the delivery operation of the roll material, which can be an absolute time point or a relative time length. The timeout penalty value of this embodiment refers to a penalty value determined according to the deviation of the predicted delivery time consumption of a certain candidate path from the delivery remaining time. This embodiment can use a lookup table or utilize a machine learning model to determine the timeout penalty value according to the deviation of the corresponding predicted delivery time consumption and the delivery remaining time. Preferably, the timeout penalty value is positively correlated with the deviation of the predicted delivery time consumption and the delivery remaining time, that is, when the predicted delivery time consumption is greater than the delivery remaining time, the greater the deviation of the predicted delivery time consumption and the delivery remaining time, the greater the timeout penalty value. Since in the calculation of the delivery score, this embodiment not only considers the predicted delivery time consumption and the predicted delivery energy consumption, but also takes the timeout penalty value into account, and the delivery score is negatively correlated with the predicted delivery time consumption, the predicted delivery energy consumption and the timeout penalty value, therefore, the longer the predicted delivery time consumption, the higher the predicted delivery energy consumption, and the greater the timeout penalty value, the lower the delivery score of the candidate path, so that this path is preferentially excluded in path screening. The first preset combination of weighting weights is used to balance the importance of the three factors in the calculation of the delivery score, to ensure that the delivery efficiency and energy consumption are optimized as much as possible under the premise of meeting the time requirement.

[0037] The present scheme effectively solves the limitations that the existing scheme may have when processing delivery requests with strict time limits by introducing the timeout penalty value as an indicator in the calculation of the delivery score. Specifically, when the delivery request contains a delivery remaining time, the system will calculate whether the predicted delivery time consumption of each candidate path will exceed the remaining time, and quantify the exceeding part as a timeout penalty value. The timeout penalty value is then included in the calculation formula of the delivery score and is weighted together with the predicted delivery time consumption and the predicted delivery energy consumption by the first preset combination of weighting weights. Since the delivery score is negatively correlated with the timeout penalty value, it means that any path that causes the delivery to be overdue will be additionally "punished", resulting in a significant decrease in the delivery score. This mechanism enables the system to not only consider efficiency and energy consumption when screening delivery paths, but also preferentially select paths that can meet the time requirement, thereby avoiding the risk of overtime due to simply pursuing the shortest time or the lowest energy consumption. Through the above technical scheme, the present application can more comprehensively and intelligently plan the delivery path. The system can effectively identify and avoid paths that may cause delivery delays by introducing the delivery remaining time and the timeout penalty value, so the present scheme can significantly improve the on-time completion rate of the delivery task, which not only optimizes the overall operation efficiency of the warehouse and reduces the additional cost or potential loss due to overtime, but also improves the service quality and customer satisfaction, that is, compared to the scheme that only considers time consumption and energy consumption, the present scheme makes the path selection more in line with actual business needs, to achieve a better balance between time, efficiency and energy consumption.

[0038] In some preferred embodiments, the following is illustrated by a specific example. Assume that a warehouse-out request requires the target warehouse-out material to be completed within 30 minutes, i.e. the remaining warehouse-out time is 30 minutes. The system randomly generates three candidate paths: candidate path A: the predicted warehouse-out time is 25 minutes, and the predicted warehouse-out energy consumption is 10 units; candidate path B: the predicted warehouse-out time is 35 minutes, and the predicted warehouse-out energy consumption is 8 units; candidate path C: the predicted warehouse-out time is 28 minutes, and the predicted warehouse-out energy consumption is 12 units. The predicted warehouse-out time of candidate path B is 35 minutes, which is greater than the remaining warehouse-out time of 30 minutes, and the deviation between the predicted warehouse-out time and the remaining warehouse-out time is 5 minutes. According to the deviation, the timeout penalty value is 10 points. Then, assume that the first preset weighting weight combination is set as: the predicted warehouse-out time weight is W_t, the predicted warehouse-out energy consumption weight is W_e, and the timeout penalty value weight is W_o. Specifically, the warehouse-out score calculation formula of candidate path A and candidate path C is: score = -(W_t x predicted warehouse-out time + W_e x predicted warehouse-out energy consumption); and the warehouse-out score calculation formula of candidate path B is: score = -(W_t x predicted warehouse-out time + W_e x predicted warehouse-out energy consumption + W_o x timeout penalty value). For example, W_t = 0.4, W_e = 0.3, and W_o = 10 (the timeout penalty value weight is high to emphasize punctuality): the score of candidate path A = -(0.4 x 25 + 0.3 x 10) = -(10 + 3) = -13; the score of candidate path B = -(0.4 x 35 + 0.3 x 8 + 10 x 5) = -(14 + 2.4 + 50) = -66.4; and the score of candidate path C = -(0.4 x 28 + 0.3 x 12) = -(11.2 + 3.6) = -14.8. By comparing the warehouse-out scores, the score of candidate path A is the highest (-13), followed by candidate path C (-14.8), and the lowest is candidate path B (-66.4). Although the predicted warehouse-out energy consumption of candidate path B is the lowest, due to the existence of the timeout penalty value, the score of candidate path B is significantly reduced. Therefore, the system will screen out candidate path A as the final warehouse-out path, thereby ensuring the optimization of the warehouse-out operation under the premise of meeting the time requirement.

[0039] In some preferred embodiments, the first preset weighting weight corresponding to the predicted warehouse out time is less than the first preset weighting weight corresponding to the overtime penalty value and greater than the first preset weighting weight corresponding to the predicted warehouse out energy consumption. The first preset weighting weight combination is used to quantify the relative importance of the predicted warehouse out time, the predicted warehouse out energy consumption and the overtime penalty value in calculating the warehouse out score, and the first preset weighting weight combination is composed of the first preset weighting weights corresponding to the predicted warehouse out time, the predicted warehouse out energy consumption and the overtime penalty value. Specifically, the first preset weighting weight corresponding to the predicted warehouse out time refers to the weight proportion of the predicted warehouse out time in calculating the warehouse out score; the first preset weighting weight corresponding to the predicted warehouse out energy consumption refers to the weight proportion of the predicted warehouse out energy consumption; and the first preset weighting weight corresponding to the overtime penalty value refers to the weight proportion of the overtime penalty value when the remaining warehouse out time is considered. The application is equivalent to realizing the situation of giving priority to avoiding warehouse out overtime by setting the first preset weighting weight corresponding to the predicted warehouse out time to be less than the first preset weighting weight corresponding to the overtime penalty value, i.e. in the warehouse out task with time limit, the system can be more inclined to select the path that can be completed on time. At the same time, the way of making the first preset weighting weight corresponding to the predicted warehouse out time greater than the first preset weighting weight corresponding to the predicted warehouse out energy consumption realizes the situation of giving priority to shortening the total warehouse out time under the premise of meeting the time requirement, and then considering reducing the energy consumption, so as to achieve a reasonable balance between efficiency and cost. Preferably, the first preset weighting weight corresponding to the predicted warehouse out time is 0.7, the first preset weighting weight corresponding to the predicted warehouse out energy consumption is 0.3, and the first preset weighting weight corresponding to the overtime penalty value is 100, i.e. when the predicted warehouse out time is greater than the remaining warehouse out time, the calculation formula of the warehouse out score is: warehouse out score = 1 / (0.7 x predicted warehouse out time + 0.3 x predicted warehouse out energy consumption + 100 x overtime penalty value).

[0040] The scheme ensures that the path that may cause timeout is avoided as much as possible in the presence of the remaining time for leaving the warehouse by setting the weight corresponding to the timeout penalty value to the highest, thereby effectively solving the problem that the timeout risk may be ignored due to improper weight allocation in the traditional scheme. The scheme sets the weight corresponding to the predicted time for leaving the warehouse to the second highest to ensure that the system will preferentially select the path with the shortest time in the case of no timeout, so as to improve the overall efficiency of leaving the warehouse. The hierarchical weight setting makes the selection of the leaving warehouse path more intelligent and refined, and better adapts to the priority requirements of different leaving warehouse tasks. Since the embodiment gives the highest weight to the timeout penalty value, the embodiment can effectively avoid potential timeout risks and ensure the timely completion of the leaving warehouse task, thereby avoiding additional costs or customer dissatisfaction due to delay. Since the embodiment can also take into account the optimization of the time for leaving the warehouse and energy consumption under the premise of ensuring timeliness, the embodiment also makes the selected path not only efficient but also economical, thereby achieving multi-objective optimization and improving the overall operation efficiency and resource utilization of the warehouse.

[0041] In some preferred embodiments, step S41 comprises: S411, randomly generating a plurality of candidate paths according to the storage location information corresponding to the target delivery roll material and the current position information of the stacker; S412, obtaining the current high-load area of the warehouse; S413, removing the candidate paths that pass through the current high-load area.

[0042] Step S411 aims to provide multiple possible movement schemes for the stacker to reach the target outfeed coil storage location from the current position, and these candidate paths can be generated based on a variety of strategies such as shortest distance, least number of turns, etc. In step S412, the current high-load area of the vertical warehouse refers to an area in the vertical warehouse that is under high stress, has potential safety hazards, or may affect the outfeed efficiency of the current target outfeed coil due to factors such as excessive weight of stored coils, uneven distribution, structural load limitations, or ongoing outfeed and / or infeed tasks. Obtaining these high-load areas can be achieved in various ways: 1. Real-time monitoring of load conditions in each area by deploying pressure sensors or strain sensors on shelves or the ground; 2. Real-time calculation and evaluation based on the weight information of the coils in the coil dataset and the storage location information, combined with the structural model of the vertical warehouse; 3. Obtaining the outfeed paths corresponding to the ongoing outfeed tasks and the infeed paths corresponding to the ongoing infeed tasks from the task management system, and regarding the areas passed by these outfeed and infeed paths as high-load areas. After obtaining the current high-load areas of the vertical warehouse, the system will analyze each candidate path, and if any part of a candidate path overlaps or passes through the identified current high-load areas, that candidate path will be marked as an unsuitable path and removed from the candidate path set to ensure that the subsequent path selection process is only conducted in safe, stable, and efficient paths.

[0043] The scheme of the present application effectively solves the problem of the stacker passing through high-risk areas during the execution of the outfeed task by introducing a mechanism for identifying and avoiding the current high-load areas of the vertical warehouse after randomly generating candidate paths. Specifically, by obtaining real-time or near-real-time high-load area information of the vertical warehouse, the preliminary generated candidate paths are screened based on this information to remove all paths passing through high-load areas from the candidate set. This process ensures that subsequent path optimization and selection are based on safer and more stable paths, thereby avoiding potential structural risks, operational hazards, and outfeed efficiency interference risks from the source. Through the above technical scheme, when generating the outfeed path, the high-load areas in the vertical warehouse can be effectively identified and avoided. This not only significantly reduces the structural risks and safety hazards that the stacker may encounter during operation, but also avoids the outfeed efficiency decline caused by the need to wait for the stacker that is currently executing an outfeed or infeed task, and the running efficiency decline or equipment wear and tear caused by passing through unstable areas. Therefore, the scheme of the present application ensures the smoothness, safety, and continuous efficiency of the outfeed operation, thereby effectively improving the reliability of the entire vertical warehouse system.

[0044] In some preferred embodiments, assuming that a certain area in the warehouse, for example, a specific layer position of a certain shelf, is identified by the system as a current high-load area due to the recent storage of multiple heavy rolls (causing the overall load of the area to approach or reach the warning threshold) or the execution of a storage task. When the stacker needs to take out the target delivery roll from the warehouse, the system will first randomly generate multiple possible storage candidate paths according to the storage location information of the target delivery roll and the current position information of the stacker. Subsequently, the system will check these candidate paths, and if one of the candidate paths passes through the current high-load area, this candidate path will be immediately excluded from the candidate path set. Finally, only those candidate paths that completely avoid the high-load area will be retained and further evaluated for predicted storage time and predicted storage energy consumption to select the optimal storage path.

[0045] In actual applications, when the number of target delivery rolls that need to be stored is multiple, if the storage is simply carried out one by one according to the storage path, the carrying capacity of the stacker may not be fully utilized, resulting in low storage efficiency; or when multiple target delivery rolls are stored simultaneously without distinction, there is a risk of exceeding the preset maximum load of the stacker, thereby affecting the safety and stability of the equipment.

[0046] In some preferred embodiments, when the number of target delivery rolls is multiple, step S5 comprises: S51, analyzing whether the total weight of the multiple target delivery rolls reaches the preset maximum load of the stacker, if yes, executing step S52, if no, executing step S53; S52, under the premise that the difference between the single storage total weight and the preset maximum load is minimized and the single storage total weight is less than the preset maximum load, and under the premise that the single storage total weight is less than the preset maximum load, controlling the stacker to store the target delivery rolls according to the storage path until all the target delivery rolls are completed, the single storage total weight being the total weight of the target delivery rolls stored simultaneously; S53, controlling the stacker to store the target delivery rolls according to the storage path.

[0047] When the number of target outbound rolls is multiple, the system first analyzes the total weight of the rolls to determine whether the total weight reaches the preset maximum load capacity of the stacker. The preset maximum load capacity refers to the maximum load capacity of the stacker in a safe and stable operation state, which is set to protect the equipment and ensure the safety of operation. If the total weight of the multiple target outbound rolls does not reach the preset maximum load capacity of the stacker, the stacker can be directly controlled to carry out the outbound operation of all target outbound rolls according to the generated outbound path, that is, the stacker of the embodiment carries out the outbound operation of all target outbound rolls at one time when the total weight of the multiple target outbound rolls does not reach the preset maximum load capacity of the stacker. If the total weight of the multiple target outbound rolls reaches or exceeds the preset maximum load capacity of the stacker, batch outbound operation is required, and the system enters step S52. The core of step S52 is to optimize the load of each outbound operation. Specifically, under the premise that the difference between the single outbound total weight and the preset maximum load capacity is minimum and the single outbound total weight is less than the preset maximum load capacity, the stacker is controlled to carry out the outbound operation of the target outbound rolls. The single outbound total weight refers to the total weight of the target outbound rolls carried by the stacker at one time. The embodiment can make the actual load capacity of the stacker as close as possible to its maximum load capacity at each outbound operation without overloading, thereby realizing efficient and safe outbound operation. This process continues until all target outbound rolls are completed.

[0048] The scheme of the present application effectively solves the problems of low efficiency or overloading risk when processing multiple roll outbound requests by introducing a comparison and analysis of the total weight of the target outbound rolls and the preset maximum load capacity of the stacker, and adopting different outbound strategies according to the analysis results. When the total weight does not reach the maximum load capacity, the outbound operation is directly performed, simplifying the operation process. When the total weight reaches or exceeds the maximum load capacity, the intelligent batch strategy is adopted to optimize the load of each outbound operation, that is, the single outbound total weight is controlled to be below the preset maximum load capacity and as close to the maximum value as possible. This mechanism ensures that the stacker operates at the highest efficiency within a safe range, avoids equipment damage or safety accidents caused by overloading, and avoids resource waste and efficiency loss caused by light load. Through the above technical scheme, the present application can significantly improve the efficiency and safety of the outbound operation of the vertical storage rolls. Specifically, intelligent judgment and optimization of the multiple roll outbound scene can avoid the risk of overloading operation of the stacker to protect the equipment and personnel safety. At the same time, the maximum load of single outbound operation reduces the number of round trips of the stacker, thereby shortening the overall outbound time and improving the logistics turnover efficiency. This fine management method makes the operation of the vertical storage more intelligent, efficient and safe.

[0049] In some preferred embodiments, it is assumed that the preset maximum load capacity of the stacker is 5 tons. There is currently a delivery request, which requires the delivery of three target delivery coils, the weights of which are: coil A is 2 tons, coil B is 1.5 tons, and coil C is 3 tons. First, the system will analyze the total weight of the three coils: 2 + 1.5 + 3 = 6.5 tons. Since 6.5 tons is greater than the preset maximum load capacity of the stacker 5 tons, the system will perform step S52 to batch delivery. At this time, the system will try to combine the coils to optimize the total weight of the single delivery, according to the principle of "the difference between the total weight of the single delivery and the preset maximum load capacity is the smallest and the total weight of the single delivery is less than the preset maximum load capacity", the system will preferentially select to combine coil B and coil C, the total weight of which is 1.5 + 3 = 4.5 tons, the total weight of coil B and coil C is 0.5 tons less than 5 tons, and less than 5 tons, so the system controls the stacker to deliver coil B and coil C according to the delivery path. After completing the first delivery, the weight of the remaining coil to be delivered (coil A) is 2 tons, and the total weight of coil A is 2 tons, which is less than the preset maximum load capacity of the stacker 5 tons, so the stacker will deliver coil A according to the delivery path. In this way, the 6.5 tons of coils that need to be delivered are completed by two deliveries (4.5 tons and 2 tons), each delivery fully utilizes the carrying capacity of the stacker, and no overload occurs, thereby improving the delivery efficiency and safety.

[0050] In some preferred embodiments, the coil intelligent management method for vertical warehouse further comprises the steps of: A1, upon receiving the storage request, obtaining second weight information of the coil to be stored; A2, analyzing whether the second weight information is greater than the preset maximum load capacity of the storage location, if yes, generating an alarm information, if not, performing step A3; A3, obtaining weight distribution information of the storage locations of the stored coils of the vertical warehouse; A4, determining a target storage location according to the weight distribution information of the storage locations of the stored coils and the second weight information; A5, generating a storage path according to the storage location information corresponding to the target storage location; A6, controlling the stacker to store the coil to be stored according to the storage path.

[0051] When receiving the storage request, step A1 acquires the second weight information of the to-be-stored roll material, which is the actual weight data of the to-be-stored roll material and is crucial for subsequent storage location bearing analysis and storage location allocation. Then, step A2 analyzes the second weight information to determine whether it is greater than the preset maximum bearing weight of the storage location, which refers to the maximum weight that a single storage location can bear. In this embodiment, the preset maximum bearing weight of the storage location is set to prevent the storage location from being overloaded, thereby ensuring the safety of the vertical storage structure. If the second weight information is greater than the preset maximum bearing weight of the storage location, the embodiment generates an alarm information, such as an audible and visual alarm, a system message push, etc., to remind the operator to avoid potential safety risks; if the second weight information does not exceed the preset maximum bearing weight of the storage location, the subsequent steps are continued. When the second weight information does not exceed the preset maximum bearing weight of the storage location, the system acquires the weight distribution information of the storage locations of the stored roll materials in the vertical storage. Specifically, the weight distribution information of the storage locations of the stored roll materials in the vertical storage refers to that the system collects the weight data and the corresponding storage location positions of all the stored roll materials in the vertical storage in real time or periodically, and calculates the weight distribution of the entire vertical storage, which can be achieved by real-time monitoring through a sensor network, periodically updating the database through inventory, or dynamically calculating in combination with the storage and retrieval records. Determining the target storage location refers to intelligently selecting an idle storage location most suitable for storage according to the weight of the to-be-stored roll material and the current weight distribution of the vertical storage, so as to optimize the overall load balancing of the vertical storage. The embodiment can achieve the determination of the target storage location according to the weight distribution information of the storage locations of the stored roll materials and the second weight information by using a preset weight distribution optimization algorithm (such as minimizing local stress, maximizing uniformity, etc.) for calculation and selection. The storage location position information corresponding to the target storage location refers to the specific coordinates or identifiers of the storage location selected for storing the to-be-stored roll material, which is used to guide the precise operation of the stacker crane. The storage location position information can be realized in the form of three-dimensional coordinates (X, Y, Z), storage location number or area identifier, etc. Generating the storage path refers to planning an optimal moving route according to the current position of the stacker crane and the position of the target storage location, so as to achieve efficient and safe transportation of the roll material. The embodiment can achieve the generation of the storage path according to the storage location position information corresponding to the target storage location by using the existing path planning algorithm. The specific process of generating the storage path in this embodiment is preferably the same as the specific process of generating the retrieval path in the above-mentioned embodiment. Controlling the stacker crane to store the to-be-stored roll material refers to sending instructions to the stacker crane to accurately transport the to-be-stored roll material to the target storage location according to the planned storage path. The embodiment can achieve the control of the stacker crane to store the to-be-stored roll material by communicating with the stacker crane through an industrial control system (PLC / IPC) and sending motion instructions and position coordinates to the stacker crane.

[0052] The scheme effectively solves the overweight risk and unreasonable weight distribution problem that may occur in the warehouse-in process of the vertical warehouse coil through the introduction of intelligent warehouse-in management process. When receiving the warehouse-in request, first, the second weight information of the coil to be warehoused is obtained, which is the basic data for subsequent warehouse-in decision. Then, it is analyzed whether the second weight information is greater than the preset maximum load capacity of the storage location. This step is to conduct a safety check before warehouse-in. If it is overweight, an alarm information is generated, effectively avoiding safety accidents caused by insufficient load capacity of a single storage location, and reflecting the emphasis on the safety of the vertical warehouse structure. If it is not overweight, the weight distribution information of the stored coil in the vertical warehouse is obtained. This information is the key to intelligent storage location selection, which reflects the current load condition of the vertical warehouse. Then, according to the weight distribution information of the stored coil and the second weight information of the coil to be warehoused, the target warehouse-in storage location is intelligently determined. This process aims to optimize the overall weight distribution of the vertical warehouse to avoid local overload, thereby prolonging the service life of the vertical warehouse and improving the operation stability. Once the target warehouse-in storage location is determined, the warehouse-in path is generated according to its position information, ensuring that the stacker can efficiently and accurately transport the coil to the specified location. Finally, the stacker is controlled to warehouse the coil to be warehoused according to the generated warehouse-in path, completing the entire intelligent warehouse-in process. Through these steps, the scheme not only improves the safety of the warehouse-in operation, but also optimizes the resource utilization efficiency and overall operation performance of the vertical warehouse.

[0053] As a preferred embodiment, the scheme of the present application is implemented as follows: assuming that a certain vertical storage system receives a storage request, which requires storing a steel coil weighing 15 tons. After receiving the storage request, the vertical storage management system obtains the second weight information (15 tons) of the coil to be stored by using the weighing sensor in step A1. In step A2, the system compares the second weight information with the preset maximum load capacity of a single storage location (preset maximum load capacity of the storage location, for example, 12 tons). Since 15 tons is greater than 12 tons, the system immediately generates an alarm information, issues an alarm through the audible and visual alarm, and pops up a prompt "coil overweight, cannot be stored" on the operation interface, while sending a short message notification to the relevant management personnel. After receiving the alarm, the operator moves the steel coil to the temporary overweight area and waits for special processing. Assuming another storage request, the second weight information of the coil to be stored is 8 tons. The system analyzes that 8 tons is less than the preset maximum load capacity of the storage location 12 tons, and at this time, step A3 will be continued. In step A3, the system obtains the weight distribution information of all stored coils in the vertical storage from the database. For example, the vertical storage is divided into multiple areas, and the load capacity and weight data of the stored coils in each area are recorded in real time. In step A4, the system runs an intelligent storage location selection algorithm according to the weight distribution information of the stored coils and the second weight information. The algorithm will evaluate the impact of placing an 8-ton coil on different idle storage locations on the overall weight distribution of the vertical storage. The goal of this algorithm is to make the load of the vertical storage more balanced and avoid local area overload. For example, the algorithm may prefer to select a currently lightly loaded area or an idle storage location far away from the heavily loaded area. Finally, the system determines a certain storage location located in the middle upper part of the vertical storage with a lower current load as the target storage location. In step A5, the system generates an optimal storage path according to the position information of the target storage location (for example, coordinates X=5, Y=10, Z=3) and the current parking position of the stacker crane. This path will consider the shortest distance, avoid obstacles, and consider the movement characteristics of the stacker crane. In step A6, the system sends the generated storage path instructions to the control system of the stacker crane to make the stacker crane move to the pickup point, grab the 8-ton steel coil, and smoothly transport it to the target storage location along the planned path according to the instructions.

[0054] By the technical solution, the intelligent management of the warehouse-in process of the vertical warehouse can be realized, so that the problems of unreasonable allocation of storage locations, overload risk and low efficiency in the warehouse-in link of the traditional vertical warehouse can be effectively solved. Specifically, by analyzing the weight of the warehouse-in roll and verifying the load-bearing capacity of the storage location, the operation safety of the vertical warehouse can be significantly improved; by intelligently selecting the target warehouse-in location in combination with the weight distribution information of the stored roll of the vertical warehouse, the overall weight balance of the vertical warehouse can be optimized, and the local area of the vertical warehouse can be prevented from being overloaded, so that the service life of the vertical warehouse is prolonged and the stability is improved; meanwhile, by generating and executing the optimized warehouse-in path, the efficiency and accuracy of the warehouse-in operation can be greatly improved, and the risk of manual intervention and operation error can be reduced. These unique advantages enable the vertical warehouse roll intelligent management method to further improve the intelligent management capability of the whole process of the vertical warehouse on the basis of realizing the intelligentization of the warehouse-out, and improve the overall operation efficiency and economic benefit of the vertical warehouse.

[0055] In some preferred embodiments, step A4 comprises: A41, obtaining location information of a plurality of empty storage locations on the vertical warehouse; A42, for each empty storage location, simulating the weight distribution of the vertical warehouse after placing the roll to be warehoused into the empty storage location according to the location information of the storage location, the weight distribution information of the storage location of the stored roll and the second weight information to obtain predicted weight distribution information; A43, selecting a target warehouse-in location from all empty storage locations according to all predicted weight distribution information.

[0056] In step A41, the location information of a plurality of empty storage locations on the vertical warehouse is obtained. These empty storage locations refer to the storage locations that do not store any roll and can be used for warehouse-in. The location information is obtained to provide basic data for subsequent simulation of the warehouse-in operation. In step A42, for each obtained empty storage location, the system will perform a simulation operation. The simulation operation is based on the weight distribution information of the current vertical warehouse and the second weight information of the roll to be warehoused, and calculates how the weight distribution of the entire vertical warehouse will change if the roll to be warehoused is placed into the empty storage location, so as to obtain a predicted weight distribution information. The purpose of this simulation is to evaluate the influence of different warehouse-in schemes on the overall weight distribution of the vertical warehouse. In actual application, in step A43, the system evaluates which warehouse-in scheme can make the weight distribution of the vertical warehouse reach a more optimal state (for example, makes the weight distribution more uniform or avoids local overload) by comparing the predicted weight distribution information corresponding to all empty storage locations. Finally, according to the predicted weight distribution information, the target warehouse-in location that best meets the preset optimization target is selected.

[0057] The scheme of the present application can quantitatively evaluate the influence of different storage options on the overall weight balance of the storage by simulating the storage of each possible empty storage location and generating the corresponding predicted weight distribution information before determining the target storage location. It is this pre-simulation and evaluation mechanism that enables the system to select the storage location that is most conducive to maintaining the stability of the storage structure and optimizing the weight distribution from multiple potential storage locations, effectively avoiding the problem of excessive local load caused by blind storage. Through the above technical scheme, the system no longer determines the storage location based on simple conditions, but through the prediction and evaluation of the weight distribution of the storage after storage, realizes the intelligent optimization of the storage location. This not only effectively avoids the structural risk of local area of the storage caused by weight concentration, prolongs the service life of the storage, but also helps to improve the overall operation efficiency and safety of the storage, and ensures the long-term stability of the roll storage.

[0058] In some preferred embodiments, assuming that there are three empty storage locations A, B, and C in the storage, and the second weight information of the roll to be stored is known. The system first obtains the storage location information of storage locations A, B, and C. Then, the system simulates the overall weight distribution of the storage after placing the roll in storage locations A, B, and C, respectively, and generates the corresponding predicted weight distribution information. For example, the simulation result may show that placing the roll in storage location A will cause the weight concentration of a certain area of the storage to be too high, placing it in storage location B will make the weight distribution relatively uniform, and placing it in storage location C will cause the weight concentration of another area to be too high. The system will select storage location B as the target storage location according to these predicted weight distribution information.

[0059] In some preferred embodiments, the roll intelligent management method for the storage further comprises the steps of: B1, obtaining real-time vibration information of the stacker when storing the roll to be stored or taking out the target roll to be taken out; B2, when the real-time vibration information is less than the preset vibration information, controlling the stacker to store the roll to be stored or take out the target roll to be taken out at a first preset speed; B3, when the real-time vibration information is greater than or equal to the preset vibration information, controlling the stacker to store the roll to be stored or take out the target roll to be taken out at a second preset speed, the first preset speed being greater than the second preset speed.

[0060] The real-time vibration information of step B1 refers to the vibration data collected in real time by vibration sensors (such as accelerometers) installed on the stacker body or its key moving parts (e.g., lifting mechanism, walking mechanism) when the stacker is performing storage or retrieval operations. This embodiment can continuously monitor the running stability of the stacker by acquiring real-time vibration information. The preset vibration information of step A2 is a pre-set vibration threshold. This embodiment can distinguish between normal stable state and abnormal vibration or unstable state of the stacker by using the preset vibration information. Those skilled in the art can calibrate the preset vibration information according to the design parameters, load conditions, operating environment and safety standards of the stacker. Steps B2 and B3 describe the mechanism of dynamically adjusting the running speed of the stacker based on real-time vibration information. When the real-time vibration information is less than the preset vibration information, it indicates that the stacker is in good running state and the vibration level is within an acceptable range. In this case, the stacker is controlled to operate at a first preset speed. The first preset speed is usually a higher speed under safe and stable operating conditions to ensure operation efficiency. When the real-time vibration information is greater than or equal to the preset vibration information, it indicates that the stacker may have excessive vibration or unstable operation. In order to ensure operation safety and equipment health, the stacker is controlled to operate at a second preset speed. The second preset speed is usually lower than the first preset speed, which aims to reduce the running intensity of the stacker, thereby effectively suppressing vibration and restoring running stability. This embodiment is equivalent to intelligently selecting the appropriate running speed by comparing the real-time vibration information with the preset vibration information, so as to realize adaptive control of the stacker running.

[0061] The scheme of the present application solves the problem that the stacker cannot adaptively adjust the speed according to its dynamic running state during storage or retrieval operations in the traditional method by introducing a monitoring and feedback mechanism for real-time vibration information of the stacker. Specifically, when the stacker is transporting coils, its running state is affected by various factors such as load weight, running speed, track flatness, etc., which may cause different degrees of vibration of the stacker. By continuously acquiring real-time vibration information, the system can timely perceive the running stability of the stacker. When the vibration level is low, the system allows the stacker to run at a higher first preset speed, thereby maximizing operation efficiency. Once the vibration level reaches or exceeds the preset vibration information, the system will immediately switch the running speed of the stacker to a lower second preset speed to actively reduce vibration intensity and avoid equipment damage or safety accidents that may occur due to high-speed operation in an unstable state. This intelligent speed adjustment based on real-time vibration information enables the stacker to always operate in a relatively stable and safe state, so this embodiment can significantly improve the stability and safety of the coil transportation process, thereby effectively prolonging the service life of the stacker and reducing maintenance costs.

[0062] In some preferred embodiments, it is assumed that a stacker crane is performing an operation to remove a heavy coil of material from a storage location. During the removal process, vibration sensors installed on key parts of the stacker crane (e.g., the lifting mechanism or traveling mechanism) continuously collect real-time vibration information of the stacker crane. The system compares this real-time vibration information with preset vibration information. If the real-time vibration information remains below the preset vibration information, indicating that the stacker crane is operating well, the system will control the stacker crane to continue the removal operation at a first preset speed (e.g., 2 m / s) to ensure efficiency. However, if, during the removal process, due to the swaying of the coil or the stacker crane moving to a specific area, the real-time vibration information suddenly increases and exceeds the preset vibration information (e.g., reaching or exceeding a certain acceleration threshold), the system will immediately respond by reducing the stacker crane's operating speed to a second preset speed (e.g., 1 m / s) to mitigate vibration and ensure the safety of the coil and equipment until the vibration returns to an acceptable level or the operation is completed. This dynamic speed adjustment mechanism allows the stacker crane to maximize operational efficiency while ensuring safety.

[0063] Secondly, this application also provides an intelligent management system for roll materials used in vertical warehouses, which includes: The roll material data acquisition module 1 is used to acquire the roll material dataset of the automated warehouse when a shipment request is received. The roll material dataset includes the storage duration information and storage location information of different roll materials in the automated warehouse. Priority acquisition module 2 is used to obtain the outbound priority score for each roll of material based on the storage duration information. Outbound roll confirmation module 3 is used to determine the target outbound roll based on all outbound priority scores and outbound requests; Outbound path generation module 4 is used to generate an outbound path based on the storage location information of the target shipment coil and the current location information of the stacker crane. The outbound execution module 5 is used to control the stacker crane to outbound the target shipment coil according to the outbound path.

[0064] This application provides a coil material intelligent management system for vertical warehouses, comprising a coil material data acquisition module 1, a priority acquisition module 2, an outbound coil material confirmation module 3, an outbound path generation module 4, and an outbound execution module 5. The coil material intelligent management system for vertical warehouses provided in this embodiment is used to execute the steps in the coil material intelligent management method for vertical warehouses provided in the first aspect above. The principle of the coil material intelligent management system for vertical warehouses provided in this embodiment is the same as the principle of the coil material intelligent management method for vertical warehouses provided in the first aspect above, and will not be discussed in detail here.

[0065] From the above, the application provides a coil material intelligent management method and system for a vertical warehouse, which realizes the storage of coil materials with a longer storage time by first obtaining the delivery priority score of the coil material according to the storage time length information and then determining the target delivery coil material based on the delivery priority score, that is, the application can actively identify and process long-term backlog coil materials, and therefore the application can effectively solve the problem of performance degradation of coil materials due to the long storage time of the coil materials in the vertical warehouse, thereby effectively improving the performance of electronic devices made of coil materials.

[0066] In the embodiments provided in the present application, it should be understood that, in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations.

[0067] The above only describes the embodiments of the present application and is not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A coil intelligent management method for a storage rack, characterized in that, The method for intelligent management of coils in a warehouse comprises the following steps: S1, upon receiving a delivery request, obtaining a coil data set of the warehouse, the coil data set comprising storage duration information and storage location information corresponding to different coils in the warehouse; S2, obtaining a delivery priority score corresponding to each coil according to the storage duration information; S3, determining a target delivery coil according to all the delivery priority scores and the delivery request; S4, generating a delivery path according to the storage location information corresponding to the target delivery coil and current position information of a stacker crane; S5, controlling the stacker crane to deliver the target delivery coil according to the delivery path.

2. The coil intelligent management method for a storage rack according to claim 1, characterized in that, Step S4 comprises: S41, randomly generating a plurality of candidate paths according to the storage location information corresponding to the target delivery coil and current position information of a stacker crane; S42, for each candidate path, performing delivery simulation according to the candidate path and first weight information of the target delivery coil to obtain predicted delivery time and predicted delivery energy consumption of the candidate path; S43, for each candidate path, calculating a delivery score according to the corresponding predicted delivery time and predicted delivery energy consumption and a first preset weighting combination, the delivery score being negatively correlated with the predicted delivery time and the predicted delivery energy consumption; S44, screening a delivery path from all the candidate paths according to all the delivery scores.

3. The coil intelligent management method for a storage rack according to claim 2, wherein, The delivery request comprises a delivery remaining time, and step S43 comprises: S431, for each candidate path, analyzing whether the predicted delivery time is greater than the delivery remaining time, if yes, performing step S432, and if no, performing step S433; S432, for each candidate path, determining an overtime penalty value according to the deviation between the predicted delivery time and the delivery remaining time, and then calculating a delivery score according to the predicted delivery time, the predicted delivery energy consumption, the overtime penalty value and the first preset weighting combination, the delivery score being negatively correlated with the predicted delivery time, the predicted delivery energy consumption and the overtime penalty value; S433, for each candidate path, calculating a delivery score according to the corresponding predicted delivery time and predicted delivery energy consumption and a first preset weighting combination.

4. The coil intelligent management method for a storage rack according to claim 3, wherein, The first preset weighting corresponding to the predicted delivery time is smaller than the first preset weighting corresponding to the overtime penalty value and larger than the first preset weighting corresponding to the predicted delivery energy consumption.

5. The coil intelligent management method for a storage rack according to claim 2, wherein, Step S41 comprises: S411, randomly generating a plurality of candidate paths according to the storage location information corresponding to the target delivery coil and current position information of a stacker crane; S412, obtaining a current high-load area of the warehouse; S413, removing candidate paths passing through the current high-load area.

6. The coil intelligent management method for a storage rack according to claim 1, wherein, When the number of target delivery coils is multiple, step S5 comprises: S51, analyzing whether the total weight of the multiple target delivery coils reaches a preset maximum weight of the stacker crane, if yes, performing step S52, and if no, performing step S53; S52, for each target delivery coil, calculating a delivery score according to the storage location information corresponding to the target delivery coil and current position information of a stacker crane, and then selecting a delivery path from all the candidate paths according to all the delivery scores; S53, for each target delivery coil, calculating a delivery score according to the storage location information corresponding to the target delivery coil and current position information of a stacker crane, and then selecting a delivery path from all the candidate paths according to all the delivery scores. S52, under the premise that the difference between the single-outbound total weight and the preset maximum load capacity is minimized and the single-outbound total weight is less than the preset maximum load capacity, controlling the stacker to outbound the target outbound coil according to the outbound path until all the target outbound coils are completed outbound, the single-outbound total weight being the total weight of the target outbound coils being outbound at the same time; S53, controlling the stacker to outbound the target outbound coil according to the outbound path.

7. The coil intelligent management method for a storage rack according to claim 1, wherein, The coil intelligent management method for the vertical warehouse further comprises steps of: A1, upon receiving an inbound request, obtaining second weight information of a coil to be stored; A2, analyzing whether the second weight information is greater than a preset maximum load capacity of a storage location, if yes, generating an alarm information, and if no, executing step A3; A3, obtaining weight distribution information of the storage locations of the stored coils of the vertical warehouse; A4, determining a target inbound storage location according to the weight distribution information of the storage locations of the stored coils and the second weight information; A5, generating an inbound path according to the storage location position information corresponding to the target inbound storage location; A6, controlling the stacker to store the coil to be stored according to the inbound path.

8. The coil intelligent management method for a storage rack according to claim 7, wherein, Step A4 comprises: A41, obtaining storage location position information of multiple empty storage locations of the vertical warehouse; A42, for each empty storage location, simulating the weight distribution of the vertical warehouse after the coil to be stored is placed in the empty storage location according to the storage location position information, the weight distribution information of the storage locations of the stored coils and the second weight information to obtain predicted weight distribution information; A43, selecting a target inbound storage location from all the empty storage locations according to all the predicted weight distribution information.

9. The coil intelligent management method for a storage rack according to claim 1 or 7, wherein, The coil intelligent management method for the vertical warehouse further comprises steps of: B1, obtaining real-time vibration information of the stacker when storing the coil to be stored or outbound the target outbound coil; B2, when the real-time vibration information is less than a preset vibration information, controlling the stacker to store the coil to be stored or outbound the target outbound coil at a first preset speed; B3, when the real-time vibration information is greater than or equal to the preset vibration information, controlling the stacker to store the coil to be stored or outbound the target outbound coil at a second preset speed, the first preset speed being greater than the second preset speed.

10. A coil intelligent management system for a storage rack, characterized in that, The coil intelligent management system for the vertical warehouse comprises: a coil data acquisition module, configured to obtain a coil data set of the vertical warehouse when receiving an outbound request, the coil data set comprising storage duration information and storage location position information corresponding to different coils in the vertical warehouse; a priority acquisition module, configured to obtain an outbound priority score corresponding to each coil according to the storage duration information; an outbound coil confirmation module, configured to determine a target outbound coil according to all the outbound priority scores and the outbound request; an outbound path generation module, configured to generate an outbound path according to the storage location position information corresponding to the target outbound coil and current position information of a stacker; The warehouse-out execution module is configured to control the stacker to perform warehouse-out of the target warehouse-out roll according to the warehouse-out path.

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