Cargo storage location identification method, device, equipment, system and medium

Abstract

A method, device, equipment, system, and medium for identifying a cargo storage location. In the method, a host computer acquires the cargo weight of the cargo waiting to be stored, and then acquires target storage location information identified for the cargo waiting to be stored based on the cargo weight and a mapping relationship acquired in advance, where the mapping relationship is a correspondence relationship between the deviation information, weight, and storage location information of each cargo, and the deviation information includes a deviation distance and / or a deviation angle. When planning a storage location for the cargo, the influence of the cargo position on the deviation information is taken into consideration, and the cargo storage location is comprehensively planned, the deviation of the cargo caused by the influence of the shuttle car is reduced, and problems such as failure to acquire the cargo caused by excessive cargo deviation are avoided.

Description

[Technical Field]

[0001] This application claims priority to a Chinese patent application filed with the China Patent Office on November 4, 2021, bearing application number 202111302323.2 and titled "Method, device, apparatus, system and medium for identifying cargo storage location," the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the field of logistics technology, and in particular to a method, device, equipment, system, and medium for identifying cargo storage locations. [Background technology]

[0003] With the development of computer and internet technology, the application of computer technology in the logistics field is increasing, and in current warehouse systems, it is becoming common to use devices such as intelligent shuttle cars to access cargo within the warehouse.

[0004] In the prior art, in the process of accessing cargo, the host computer plans cargo that is accessed frequently to be located closer to the hoist and cargo that is accessed less frequently to be located farther from the hoist according to the access frequency of the cargo, thereby shortening the round trip distance when the shuttle car accesses the cargo. In actual use, the movement of the shuttle car and the pick-and-place operation of the cargo cause vibrations on the shelves, which cause slight positional deviations of the cargo in the storage area. Over time, these slight positional deviations gradually accumulate until they affect the pick-and-place operation of the shuttle car.

[0005] In summary, traditional cargo storage location planning methods only consider distance, but do not consider issues such as cargo retrieval failure that may result from issues such as location misalignment. Currently, no storage location planning method can integrate the multifaceted factors that affect cargo misalignment. Summary of the Invention

[0006] The embodiments of the present disclosure provide a method, device, equipment, system, and medium for identifying cargo storage locations, and provide a technical proposal for storage location planning that can integrate multifaceted factors that affect cargo displacement.

[0007] In a first aspect, embodiments of the present disclosure include: A method for identifying a cargo storage location applied to a host computer, comprising: Obtaining cargo weight of cargo waiting to be stored; Obtaining target storage location information identified for the cargo awaiting warehousing based on the cargo weight and a mapping relationship previously obtained, wherein the mapping relationship is a correspondence relationship between deviation information, weight, and storage location information of each cargo, and the deviation information includes a deviation distance and / or a deviation angle. Provide a method for identifying cargo storage locations.

[0008] In one specific embodiment, the method further comprises: obtaining an access frequency of the cargo awaiting warehousing; Correspondingly, acquiring target storage location information identified for the cargo awaiting warehousing based on the cargo weight and the previously acquired mapping relationship includes: and obtaining the target storage location information identified for the awaiting entry cargo based on the cargo weight, the access frequency, and the mapping relationship.

[0009] In one specific embodiment, the method further comprises: This includes transmitting a warehousing command to a shuttle car based on the target storage location information to instruct the shuttle car to place the cargo awaiting warehousing at a location indicated by the target storage location information.

[0010] In one specific embodiment, obtaining target storage location information identified for the cargo awaiting warehousing based on the cargo weight and the previously obtained mapping relationship includes: The method includes identifying a storage location on the shelf that has the smallest deviation information corresponding to the cargo weight based on the cargo weight and the mapping relationship as a target storage location for the cargo awaiting warehousing, and obtaining the target storage location information.

[0011] In one specific embodiment, obtaining the identified target storage location information for the awaiting warehousing cargo based on the cargo weight, the access frequency, and the mapping relationship includes: Identifying a target cargo partition within the shelf that satisfies a predetermined frequency optimization strategy based on the access frequency of the awaiting entry cargo, wherein the frequency optimization strategy indicates that the cargo has a higher access frequency, the cargo is closer to the hoist, and the shelf includes a plurality of cargo partitions that are pre-assigned based on a distance between the support column and a distance between the support column and a guide rail; Based on the cargo weight and the mapping relationship, identify a storage location in the target cargo partition that has the smallest deviation information corresponding to the cargo weight as a target storage location for the cargo waiting to be stored, and obtain the target storage location information; Includes:

[0012] In one specific embodiment, obtaining the identified target storage location information for the awaiting warehousing cargo based on the cargo weight, the access frequency, and the mapping relationship includes: Identifying a plurality of storage locations from the shelves where deviation information corresponding to the cargo weight is less than a preset threshold based on the cargo weight and the mapping relationship; Identifying a target storage location from the plurality of storage locations that satisfies a preset frequency optimization strategy based on the access frequency of the cargo awaiting warehousing, and obtaining the target storage location information, wherein the frequency optimization strategy indicates that the higher the access frequency of the cargo, the closer it is to a hoist; Includes:

[0013] In one specific implementation, prior to obtaining target storage location information identified for the cargo awaiting warehousing based on the cargo weight and the previously obtained mapping relationship, the method further includes: receiving information on cargo deviations at each storage location reported by the shuttle car during the inspection process; Storing cargo deviation information at each storage location; Includes:

[0014] In one specific embodiment, the method further comprises: receiving, upon receipt of each cargo, a weight of said cargo as reported by a weigh conveyor line; After each cargo is received, storing the weight of each cargo and storage location information of each cargo; Includes:

[0015] In one specific embodiment, the method further comprises: The method includes statistically analyzing the weight, storage location information, and deviation information of all cargoes stored in the storage space to obtain the mapping relationship.

[0016] In another specific embodiment, acquiring the cargo weight of the cargo awaiting warehousing includes: The method includes receiving the cargo weight of the cargo awaiting warehousing reported by the weighing conveyor line.

[0017] In another specific embodiment, obtaining the access frequency of the cargo awaiting warehousing includes: The method includes acquiring the access frequency of the cargo awaiting warehousing based on location information of the cargo awaiting warehousing input by a user or acquired in advance.

[0018] In a second aspect, embodiments of the present disclosure include: an acquisition module for acquiring cargo weight and access frequency of cargo awaiting storage; a processing module for acquiring target storage location information identified for the cargo awaiting warehousing based on the cargo weight and a mapping relationship acquired in advance, wherein the mapping relationship is a correspondence relationship between deviation information, weight, and storage location information of each cargo, and the deviation information includes a deviation distance and / or a deviation angle; To provide a cargo storage location identification device including:

[0019] In one specific embodiment, The acquisition module is further configured to acquire an access frequency of the cargo awaiting warehousing; Correspondingly, the processing module is specifically for obtaining the target storage location information identified for the cargo awaiting warehousing based on the cargo weight, the access frequency, and the mapping relationship.

[0020] In one specific embodiment, the device further comprises: The system includes a transmission module for transmitting a warehousing command to a shuttle car based on the target storage location information, instructing the shuttle car to place the cargo awaiting warehousing at the location indicated by the target storage location information.

[0021] In one specific embodiment, the processing module specifically comprises: Based on the cargo weight and the mapping relationship, the storage location within the shelf storage location with the smallest deviation information corresponding to the cargo weight is identified as the target storage location for the cargo awaiting warehousing, and the target storage location information is obtained.

[0022] In one specific embodiment, the processing module specifically comprises: Identifying a target cargo partition within the shelf that satisfies a preset frequency optimization strategy based on the access frequency of the cargo awaiting warehousing, the frequency optimization strategy indicating that the higher the access frequency of the cargo, the closer the cargo should be to the hoist, the shelf includes a plurality of cargo partitions that are pre-assigned based on the distance between the support column and the distance between the support column and the guide rail; Based on the cargo weight and the mapping relationship, a storage location in the target cargo partition that has the smallest deviation information corresponding to the cargo weight is identified as a target storage location for the cargo awaiting warehousing, and the target storage location information is obtained. This is for the purpose.

[0023] In one specific embodiment, the processing module specifically comprises: Identifying a plurality of storage locations from the shelves where deviation information corresponding to the cargo weight is less than a preset threshold based on the cargo weight and the mapping relationship; Identifying a target storage location from the plurality of storage locations that satisfies a preset frequency optimization policy based on the access frequency of the cargo awaiting warehousing, obtaining the target storage location information, and the frequency optimization policy indicating that the higher the access frequency of the cargo, the closer it is to the hoist; This is for the purpose.

[0024] In one specific implementation, the device further comprises: a receiving module for receiving information on cargo deviations at each storage location reported by the shuttle car during the patrol inspection process; a storage module for storing information on cargo deviations at each storage location; Includes:

[0025] In one specific embodiment, the receiving module is further for receiving, upon entry of each cargo, a weight of the cargo reported by the weighing conveyor line; The storage module is further for storing the weight of each cargo and the storage location information of each cargo after each cargo is received.

[0026] In another specific embodiment, the processing module further comprises: The purpose is to statistically analyze the weight, storage location information, and deviation information of all cargoes stored in the storage space to obtain a mapping relationship.

[0027] In another specific embodiment, the acquisition module specifically comprises: and receiving the cargo weight of the cargo waiting to be stored reported by the weighing conveyor line.

[0028] In another specific embodiment, the acquisition module specifically comprises: The access frequency of the cargo awaiting warehousing is obtained based on the location information of the cargo awaiting warehousing input by the user or obtained in advance.

[0029] In a third aspect, embodiments of the present disclosure include: a processor; Memory and a communication interface; Including, the memory is for storing executable instructions for the processor, the processor being configured to execute the executable instructions to perform the cargo storage location identification method of any one of the first aspects. Provide a host computer.

[0030] In a fourth aspect, embodiments of the present disclosure include: A host computer according to a third aspect; Shuttle cars each connected to the host computer for communication; Hoist and A weighing conveyor line, Including, The shuttle car is for storing and retrieving cargo and for conducting patrol inspections according to instructions from the host computer, the hoist is for lifting cargo in cooperation with the shuttle car according to instructions from the host computer, and the weighing conveyor line is for identifying the weight of each cargo. Provides a shuttle car system.

[0031] In a fifth aspect, embodiments of the present disclosure include: There is provided a readable storage medium having stored thereon a computer program that, when executed by a processor, implements the cargo storage location identification method according to any one of the first aspects.

[0032] In a sixth aspect, embodiments of the present disclosure include: There is provided a computer program product comprising a computer program for, when executed by a processor, implementing the cargo storage location identification method according to any one of the first aspects.

[0033] An embodiment of the present disclosure provides a method, device, equipment, system, and medium for identifying a cargo storage location, in which a host computer obtains the cargo weight of cargo awaiting entry, and then obtains target storage location information identified for the cargo awaiting entry based on the cargo weight, the access frequency, and a previously obtained mapping relationship, where the mapping relationship is a correspondence relationship between the deviation information, weight, and storage location information of each cargo, and the deviation information includes the deviation distance and / or deviation angle. When planning a cargo storage location, the cargo position and weight and the corresponding cargo deviation information are analyzed in advance to obtain the mapping relationship. When specifically warehousing the cargo and identifying a storage location, the influence of the cargo position and weight deviation information on the deviation information is taken into consideration, and the cargo storage location is comprehensively planned, thereby reducing cargo deviation caused by the influence of shuttle cars and avoiding problems such as failure to acquire cargo due to excessive cargo deviation.

[0034] In order to more clearly describe the technical solutions in the embodiments of the present disclosure or the prior art, the following briefly introduces the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure, and those skilled in the art can further obtain other drawings based on these drawings without any creative efforts. [Brief explanation of the drawings]

[0035] [Figure 1] FIG. 1 is a structural schematic diagram of the shuttle car provided by the present disclosure. [Figure 2]FIG. 2 is a schematic diagram of a shuttle car patrol inspection provided by the present disclosure. [Figure 3] FIG. 3 is a schematic diagram of obtaining the amount of deviation through a shuttle car patrol inspection provided by the present disclosure. [Figure 4] FIG. 4 is a structural schematic diagram of the shelf, hoist, and shuttle car provided by the present disclosure. [Figure 5] FIG. 5 is a schematic diagram of cargo entry in a shuttle car system provided by the present disclosure. [Figure 6] FIG. 6 is a schematic diagram of a shuttle car system provided by the present disclosure. [Figure 7] FIG. 7 is a flowchart of a first embodiment of a method for identifying a cargo storage location provided by the present disclosure. [Figure 8] FIG. 8 is a flowchart of a second embodiment of the method for identifying a cargo storage location provided by the present disclosure. [Figure 9] FIG. 9 is a functional schematic diagram of the shuttle car system provided by the present disclosure. [Figure 10] FIG. 10 is a structural schematic diagram of a cargo storage location identification device according to a first embodiment of the present disclosure. [Figure 11] FIG. 11 is a structural schematic diagram of a second embodiment of the cargo storage location identification device provided by the present disclosure. [Figure 12] FIG. 12 is a structural schematic diagram of a cargo storage location identification device according to a third embodiment of the present disclosure. [Figure 13] FIG. 13 is a structural schematic diagram of an embodiment of a host computer provided by the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0036] In order to clarify the objectives, technical solutions and advantages of the embodiments of the present disclosure, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments of the present disclosure, any other embodiments made by those skilled in the art under the guidance of the embodiments shall also fall within the scope of protection of the present disclosure.

[0037] Terms such as "first," "second," "third," and "fourth," when present, in the specification and claims of this disclosure and in the drawings are intended to distinguish between similar objects and are not necessarily used to describe a particular order or sequence. Such terms, when used, should be understood to be interchangeable under appropriate circumstances so that the embodiments of the disclosure described herein can be practiced in orders other than those illustrated or described herein. Additionally, the terms "comprise" and "have," and any variations thereof, are intended to cover non-exclusive inclusions; for example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to the explicitly listed steps or units, but may also include other steps or units not explicitly listed or inherent in the process, method, product, or apparatus.

[0038] In the current shuttle car system, the movement of the shuttle car during the loading and unloading process can cause vibrations, and long-term shelf vibrations can lead to cargo misalignment. As the accumulation time increases, the misalignment increases, which can easily lead to problems such as the shuttle car not being able to accurately pick up cargo as instructed during the subsequent unloading process. The current cargo storage location allocation simply follows a principle similar to that of a hoist, which has high access frequency, but does not take into account factors such as misalignment. At present, there is no storage location planning solution that can integrate multiple factors such as the impact of misalignment and distance.

[0039] In response to the problems of the prior art, the present disclosure provides a method for automatically optimizing cargo storage locations in a shuttle car multi-story parking lot, taking into consideration the cargo weight and the misalignment and vibration conditions that may occur in different storage locations on shelves, and assigning appropriate storage locations to different cargo items using a host computer, thereby reducing the impact of vibration on cargo position misalignment.

[0040] In any specific implementation of the present disclosure, cargo should be understood to refer to the cargo itself and a container. The container here may be a material box, a turnover box, a pallet, etc., and the present invention does not impose any limitations thereon. If the cargo itself does not require an additional container, the cargo itself is referred to.

[0041] The cargo weight refers to the sum of the weight of the cargo itself and the weight of the container. The container here may be a material box, a turnover box, a pallet, etc., and the present invention does not impose any restrictions on these. If the cargo itself does not require an additional container, the cargo weight refers to the weight of the cargo itself.

[0042] Figure 1 is a schematic diagram of the structure of a shuttle car provided by the present disclosure. As shown in Figure 1, at the equipment level, a laser ranging module 2 is installed on both sides of the head or tail of the shuttle car 1, which, in conjunction with the shuttle car's original positioning sensor 3, displacement sensor, and processor, performs patrol inspection of cargo on the shelves between normal loading and unloading operations, and the shuttle car can obtain data on the amount and angle of displacement of cargo at each position on the shelf and upload it to a host computer.

[0043] 2 is a schematic diagram of a shuttle car's patrol inspection provided by the present disclosure. As shown in FIG. 2, the shuttle car 1 travels along the lane direction (X direction), and the laser ranging module 2 emits a laser signal in the direction where the cargo A1 is located. When the laser signal is irradiated onto the cargo A1, it can receive the laser signal reflected from the cargo A1, thereby measuring the distance to the cargo A1. This distance value is received by the processor and compared with a preset value of the system. If the error value is within the preset error E1 range, the shuttle car 1 continues traveling until the laser ranging module 2 can no longer receive the reflected signal or the reflected signal exceeds the preset error E1 range.

[0044] During the process from when the laser ranging module 2 starts receiving the reflected laser signal within the preset error E1 to when it stops receiving the signal, the distances Δy1 and Δy2 between the laser ranging module 2 and the cargo A1 can be obtained. Furthermore, the displacement sensor calculates the distance traveled by the shuttle car 1, i.e., the distance Δx between the leftmost and rightmost ends of the cargo A1 closest to the shuttle car 1. (FIG. 3 is a schematic diagram of obtaining the amount of deviation through the shuttle car's patrol inspection provided by the present disclosure. As shown in FIG. 3, at this time, the cargo A1 may be in a normal position and angle, or may be misaligned, rotated, or both.) This, combined with the status of the positioning sensor 3 and the value of the displacement sensor, can determine the deviation distance and angle of the cargo A1. If the deviation distance and angle are within the error tolerance, the shuttle car 1 can continue inspecting the cargo at the next cargo location. If the deviation distance and / or deviation angle exceeds the allowable error range, the position of the shuttle car 1 can be adjusted to load the cargo A1 onto the vehicle, and then the shuttle car 1 can be positioned at the correct position to place the cargo A1 at the cargo location, and repositioning of the cargo A1 can be achieved by a single pick-and-place operation of the shuttle car 1 on the cargo A1.

[0045] Even when there are two cargoes A1 and A2 in the depth direction, the deviation distance and deviation angle of box A1 can be determined based on the distance value measured by laser ranging module 2, the distance between the leftmost and rightmost ends of cargo A1 closest to shuttle car 1, and the state of positioning sensor 3. Based on the measured engineering data, the deviation distance and deviation angle of cargo A1 are greater than those of A2. Therefore, if the deviation distance and deviation angle of A1 are within the error tolerance, there is no need to reposition either cargo A1 or A2. If the deviation distance and deviation angle of A1 are beyond the error tolerance, shuttle car 1 is first adjusted, cargo A1 is removed and placed on the car for temporary storage, and then shuttle car 1 detects the deviation distance and deviation angle of cargo A2. If the deviation distance and deviation angle of cargo A2 are within the error tolerance, there is no need to reposition it; cargo A1 can be directly placed in its cargo location to achieve repositioning. If the deviation distance and deviation angle of A2 are beyond the error tolerance, shuttle car 1 will first place cargo A1 in another vacant location for temporary storage, and then reposition cargo A2. Finally, cargo A1 will be retrieved and placed back in its original storage location for repositioning. During this process, for cargo on the opposite side of the lane, a patrol inspection will be performed by the laser ranging module on the other side of shuttle car 1, using the same process and principle. Up to this point, the patrol inspection of this row of cargo is completed, and the patrol inspection of the next row can proceed.

[0046] In the continuous patrol inspection process according to the above-described form, the shuttle car reports the deviation information (deviation distance and / or deviation angle) of each cargo to the host computer, and the host computer can store the deviation information reported by the shuttle car during the patrol inspection process for data analysis.

[0047] Figure 4 is a structural schematic diagram of the shelf, hoist, and shuttle car provided by the present disclosure. As shown in Figure 4, a conveyor line 4 with a weighing function is used at the entrance and exit of the shelf (or only at the entrance), and when the received cargo passes through the conveyor line 4, the host computer can obtain the weight of the cargo. The cargo then passes through the hoist 5, buffer position 6, and shuttle car 1 in sequence, and is placed in a certain storage location.

[0048] FIG. 5 is a schematic diagram of the shuttle car system for receiving cargo provided by the present disclosure. As shown in FIG. 5, from the perspective of the overall system and control level, during the previous patrol inspection process, the shuttle car uploads and stores the deviation distance and deviation angle of each cargo item to a host computer. By combining the weight information and position information of each cargo item acquired when it is received, the host computer can statistically compile the relationship between the deviation distance and / or deviation angle of each cargo item and the cargo position and cargo weight. Taking the cargo bay within the dotted line in FIG. 5 as an example, the cargo bays can be divided into four partitions, A1, A2, B1, and B2, based on the distance between the cargo and the support 7 and the distance between the cargo and the guide rail 8. This classification is also called classification. (Such classification is consistent with the prior art approach based on the frequency of cargo pick-and-placement. Because the cargo partitions in each cargo bay are essentially the same and the distances from the hoist to each cargo bay are different, the optimization approach based on weight and deviation amount and the optimization approach based on pick-and-place frequency do not interfere with each other.) Finally, the host computer determines the optimal storage strategy based on the statistical correspondences. For subsequent loading and unloading operations, new storage locations can be reallocated to each cargo.

[0049] The specific cargo storage ideas provided by the present disclosure are described in detail below through several specific examples.

[0050] Fig. 6 is a schematic diagram of a shuttle car system provided by the present disclosure. As shown in Fig. 6, the shuttle car system includes at least a host computer, a shuttle car connected to the host computer, a hoist, and a weighing conveyor line, wherein the shuttle car is for storing and retrieving cargo and conducting inspections according to instructions from the host computer, the hoist is for lifting cargo in cooperation with the shuttle car according to instructions from the host computer, the weighing conveyor line is for identifying the weight of each cargo, and the host computer is for performing analysis based on data in a storage system and for controlling other devices to perform tasks such as storing and retrieving cargo and conducting inspections.

[0051] In the technical implementation of the technical solution of the present disclosure, the system control design is mainly implemented by the host computer. The following will describe in detail the specific design of cargo storage area by the host computer through several examples.

[0052] 7 is a flowchart of a first embodiment of a method for identifying a cargo storage location provided in the present disclosure. As shown in FIG. 7, the specific steps of the method for identifying a cargo storage location include the following steps:

[0053] S101: A step for obtaining the cargo weight of cargo waiting to be stored.

[0054] In this step, if the host computer receives new cargo that needs to be stored, or if it has been removed and needs to be re-stored, i.e., if the storage location of the cargo needs to be re-identified, these cargoes that need to be identified for storage location can be collectively referred to as "cargo awaiting storage."

[0055] When the host computer determines that a cargo needs to be stored, it needs to obtain the cargo weight of the cargo awaiting storage. Specifically, if the cargo is being re-stored, the weight reported by the weighing conveyor line at the time of the cargo storage can be directly read from the stored data. If the cargo is new, the weighing conveyor line can weigh the cargo awaiting storage to obtain the cargo weight.

[0056] S102: A step of acquiring target storage location information identified for cargo awaiting warehousing based on cargo weight and a mapping relationship acquired in advance, wherein the mapping relationship is a correspondence relationship between deviation information, weight, and storage location information of each cargo, and the deviation information includes deviation distance and / or deviation angle.

[0057] In this step, during the actual cargo access process, deviation information for each cargo can be collected during the shuttle car's patrol inspection process. This deviation information includes at least the deviation distance and / or deviation angle. The host computer analyzes the weight, storage location information (specific storage location, distance from the hoist, etc.) of each cargo, and the deviation information for the cargo, to obtain a mapping relationship between the deviation information, weight, and storage location information. This mapping relationship can reflect the actual impact of the weight and storage location on the deviation situation.

[0058] When it is necessary to arrange a storage location for the cargo, the host computer identifies the storage location on the shelf with the smallest deviation information corresponding to the cargo weight based on the above mapping relationship and the acquired cargo weight as the target storage location for the cargo awaiting warehousing, and obtains the target storage location information.

[0059] In other words, by selecting the storage location with the smallest amount of displacement corresponding to the cargo weight from all the storage locations obtained and later storing the cargo in that storage location, excessive displacement of the cargo due to vibrations, etc. can be avoided.

[0060] In a specific implementation of the present invention, the host computer can plan storage locations based solely on the cargo weight and the mapping relationship described above, and can also plan storage locations while simultaneously taking into account factors such as access frequency and deviation information, in order to further optimize the storage location planning.

[0061] Specifically, in this implementation, the host computer can also obtain the access frequency of the cargo. Specifically, the access frequency of the cargo waiting to be stored can be manually determined by the staff according to the status of the items in the cargo, and the host computer can also obtain it directly from the preset cargo parameter data or from the cargo access history data. This invention does not impose any restrictions on this.

[0062] When it is necessary to identify storage location information for cargo waiting to be stored, the present invention requires that the influence of access frequency be taken into consideration comprehensively, that is, when planning storage locations, the principle must be met that the more frequently accessed cargo is, the closer it is to the hoist. At the same time, based on the above-mentioned mapping relationship statistically calculated by the upper computer, it is also possible to select a storage location with the smallest deviation based on the cargo weight of the cargo waiting to be stored.

[0063] In a specific implementation of the present invention, the host computer can identify the target storage location information of the cargo waiting to be stored in at least the following two implementation forms.

[0064] The first implementation is: Identifying a target cargo partition within the shelf that satisfies a preset frequency optimization strategy based on the access frequency of the cargo awaiting warehousing, wherein the frequency optimization strategy indicates that the higher the access frequency of the cargo, the closer it is to the hoist, and the shelf cargo compartment includes a plurality of cargo partitions that are pre-assigned based on the distance between the support column and the distance between the support column and the guide rail; Then, based on the cargo weight and the mapping relationship, a storage location in the target cargo partition that has the smallest deviation information corresponding to the cargo weight is identified as a target storage location for the cargo waiting to be stored, and the target storage location information is obtained. That is the thing.

[0065] In this invention, the area within the shelf is pre-allocated into multiple cargo partitions according to the distance between the shelf support columns and the guide rails. Each cargo partition may include one or more storage locations. The host computer first identifies the cargo compartments that satisfy a pre-defined frequency optimization strategy based on access frequency. The host computer then selects the optimal partition from the shelf compartment as the target cargo partition according to the rule that the more frequently the cargo is accessed, the closer it is to the hoist. This target cargo partition may be one or more. Then, based on the cargo weight of the cargo awaiting warehousing and the mapping relationship described above, the storage location for the cargo awaiting warehousing is selected from the target cargo partitions with the smallest deviation information corresponding to the cargo weight, thereby obtaining the final target storage location information.

[0066] The second implementation is Identifying a plurality of storage locations from the shelves where deviation information corresponding to the cargo weight is less than a preset threshold based on the cargo weight and the mapping relationship; Then, based on the access frequency of the cargo waiting to be stored, a target storage location that satisfies a preset frequency optimization policy is identified from the plurality of storage locations, and the target storage location information is obtained, in which the frequency optimization policy indicates that the higher the access frequency of the cargo, the closer it is to the hoist. That is the thing.

[0067] In this invention, the host computer first identifies multiple storage locations from all shelves that have the smallest deviation information corresponding to the cargo weight of the cargo awaiting warehousing based on the cargo weight and the mapping relationship obtained above. In a specific implementation of this invention, it is also possible to directly obtain two or more storage locations with the smallest deviation information, or to preset a deviation information threshold and make a judgment in a specific implementation to obtain all storage locations whose deviation information corresponding to the cargo weight is less than the preset threshold. It is also possible to directly set the number of storage locations to be obtained and directly obtain as many storage locations as there are with the smallest deviation information corresponding to the cargo weight, and the invention does not impose any restrictions on this.

[0068] After identifying a plurality of storage locations whose deviation information satisfies the conditions, the host computer selects the most appropriate target storage location from the plurality of storage locations as the storage location for the cargo awaiting warehousing according to a frequency optimization strategy based on the access frequency of the cargo awaiting warehousing, in accordance with a strategy in which the higher the access frequency of the cargo, the closer it is to the hoist, and finally obtains target storage location information.

[0069] In the cargo storage location identification method provided by this embodiment, when the host computer needs to plan storage locations for cargo awaiting warehousing, it pre-analyzes the cargo location and weight and the corresponding cargo deviation information based on the conventional access frequency rules to obtain the above mapping relationship, and when specifically warehousing the cargo and identifying the storage location, it takes into account the impact of the cargo location and weight deviation information, comprehensively plans the cargo storage location, reduces cargo deviation caused by the influence of shuttle cars, and avoids problems such as failure to acquire cargo due to excessive cargo deviation. Furthermore, by comprehensively considering the access frequency and the impact of the cargo location and weight deviation information, it is possible to further optimize the storage location plan and minimize the effects of excessive cargo deviation.

[0070] Based on the above embodiment, after the host computer completes the storage location plan, i.e., after specifying the target storage location information, it is necessary to store the awaiting cargo based on the target storage location information. Specifically, based on the target storage location information, the host computer transmits a storage command to the shuttle car to instruct the shuttle car to place the awaiting cargo at the location indicated by the target storage location information.

[0071] The host computer issues instructions to the shuttle car based on the identified target storage location information, and the shuttle car transports the cargo awaiting warehousing to the location indicated by the target storage location information in accordance with the instructions from the host computer, thereby completing the warehousing process.

[0072] 8 is a flowchart of a second embodiment of the method for identifying a cargo storage location provided by the present disclosure. As shown in FIG. 8, prior to the specific application of any of the above embodiments, the specific steps of the method for identifying a cargo storage location include the following steps:

[0073] S201: A step of receiving the weight of each cargo reported from the weighing conveyor line when the cargo is received.

[0074] In this step, in the receiving process of each cargo, the cargo needs to be weighed through a weighing conveyor line, which can report the weight of the cargo to a higher-level computer.

[0075] S202: After each cargo is received, the weight of each cargo and storage location information of each cargo are stored.

[0076] In this step, the host computer needs to receive the weight of the cargo and then store the weight of the cargo. At the same time, it also needs to allocate a storage location to the cargo and store the storage location information of the cargo after the cargo has been received.

[0077] The cargo weight and storage location information can be stored in a storage system for the entire system, which may be a storage system in the host computer or an external storage system accessible by the host computer, although the present invention does not impose any restrictions on this.

[0078] S203: A step of receiving cargo deviation information at each storage location reported by the shuttle car during the patrol inspection process.

[0079] S204: A step of storing cargo deviation information at each storage location.

[0080] In the above two steps, during the shuttle car's patrol inspection, after the shuttle car detects the deviation information of each cargo, it needs to report the deviation information to the host computer. The host computer receives the deviation information of each cargo reported by the shuttle car and also stores the deviation information based on the identification of the cargo.

[0081] S205: A step of statistically analyzing the weight, storage location information, and deviation information of all cargoes stored in the storage space to obtain a mapping relationship.

[0082] After obtaining sufficient data, the host computer can identify certain rules or regulations through big data analysis. In this invention, after obtaining a sufficient amount of cargo weight, storage location information, and deviation information, the host computer can statistically analyze the data and calculate the relationship between the deviation distance and / or deviation angle of each cargo and the cargo position and weight, i.e., the above mapping.

[0083] In the subsequent cargo receiving process, the host computer can identify the most suitable storage location for storing the cargo based on the statistical relationship in accordance with the optimization strategy based on cargo weight and deviation information, and the optimization strategy based on pick-and-place frequency.

[0084] FIG. 9 is a functional schematic diagram of the shuttle car system provided by the present disclosure. As shown in FIG. 9 and described in the previous embodiments, in the overall cargo storage location specific design, the hoist mainly cooperates with the shuttle car to complete tasks such as storing, retrieving, picking, and repositioning cargo according to instructions from a host computer. The weighing conveyor line not only obtains the weight of the incoming cargo but also transports the cargo according to instructions from the host computer. During the patrol inspection process, the shuttle car obtains the cargo deviation distance and / or deviation angle at each storage location according to the above-mentioned method and reports it to the host computer. The host computer stores the obtained data and information in a storage system, and performs analysis based on the related information in the storage system, compiles mapping statistics, and assigns the optimal storage location to subsequent incoming cargo.

[0085] The cargo storage location identification scheme provided by this disclosure is based on a laser ranging module attached to a shuttle car to measure the distance close to the cargo body. The laser ranging module, in combination with existing displacement sensors and positioning sensors, calculates the cargo displacement distance and displacement angle and reports the displacement distance and displacement angle to a host computer to provide data for subsequent storage location optimization. The host computer obtains the weight of each incoming cargo through a weighing function added to the receiving conveyor line, and can provide data for subsequent storage optimization strategies. Finally, the host computer statistically analyzes the cargo weight, cargo displacement information obtained from the previous inspection round, and cargo storage location to obtain a mapping relationship. In the process of assigning storage locations to subsequent cargo, the mapping relationship is combined with existing rules to match the optimal storage location for the cargo. The cargo can also be re-stored during subsequent loading and unloading operations. This minimizes the influence of cargo weight and position on the displacement, avoiding excessive cargo displacement due to vibration and further avoiding the problem of inaccurate cargo retrieval.

[0086] 10 is a structural schematic diagram of a cargo storage location identification device according to a first embodiment of the present disclosure. As shown in FIG. 10, the cargo storage location identification device 10 includes: an acquisition module 11 for acquiring cargo weight of cargo awaiting storage; a processing module 12 for acquiring target storage location information identified for the cargo awaiting warehousing based on the cargo weight and a mapping relationship acquired in advance, the mapping relationship being a correspondence relationship between deviation information, weight, and storage location information of each cargo, and the deviation information including a deviation distance and / or a deviation angle; Includes:

[0087] Optionally, in one particular implementation of the cargo storage location identification device 10, The acquisition module 11 is further configured to acquire the access frequency of the cargo awaiting warehousing; Correspondingly, the processing module 12 is specifically for obtaining the target storage location information identified for the cargo awaiting warehousing based on the cargo weight, the access frequency, and the mapping relationship.

[0088] The cargo storage location identification device provided in this embodiment is for implementing the technical solution of the host computer in any of the method embodiments described above, and its implementation principles and technical effects are the same. When the host computer receives cargo that needs to be stored, it pre-analyzes the cargo location and weight and the corresponding cargo deviation information based on the conventional access frequency rules to obtain the above mapping relationship. When specifically storing the cargo and identifying the storage location, it takes into account the impact of the cargo location and weight deviation information, comprehensively plans the cargo storage location, reduces cargo deviation caused by the influence of shuttle cars, and avoids problems such as failure to acquire cargo due to excessive cargo deviation.

[0089] FIG. 11 is a structural schematic diagram of a second embodiment of the cargo storage location identification device provided by the present disclosure. As shown in FIG. 11, based on the first embodiment, the cargo storage location identification device 10 further includes: The system includes a transmission module 13 for transmitting a warehousing command to a shuttle car based on the target storage location information to instruct the shuttle car to place the cargo waiting to be stored at the location indicated by the target storage location information.

[0090] In one specific implementation, the processing module 12 specifically Based on the cargo weight and the mapping relationship, the storage location within the shelf storage location with the smallest deviation information corresponding to the cargo weight is identified as the target storage location for the cargo awaiting warehousing, and the target storage location information is obtained.

[0091] In one specific implementation, the processing module 12 specifically: Identifying a target cargo partition from the shelf cargo bay that satisfies a preset frequency optimization strategy based on the access frequency of the cargo awaiting warehousing, wherein the frequency optimization strategy indicates that the higher the access frequency of the cargo, the closer the cargo is to the hoist, and the shelf cargo bay includes a plurality of cargo partitions that are pre-assigned based on the distance between the support column and the distance between the support column and the guide rail; Based on the cargo weight and the mapping relationship, a storage location in the target cargo partition that has the smallest deviation information corresponding to the cargo weight is identified as a target storage location for the cargo waiting to be stored, and the target storage location information is obtained. This is for the purpose.

[0092] In one specific implementation, the processing module 12 specifically: Identifying a plurality of storage locations from the shelf cargo room where deviation information corresponding to the cargo weight is less than a preset threshold based on the cargo weight and the mapping relationship; Based on the access frequency of the cargo waiting to be stored, a target storage location that satisfies a preset frequency optimization policy is identified from the plurality of storage locations, and the target storage location information is obtained, in which the frequency optimization policy indicates that the higher the access frequency of the cargo, the closer it is to the hoist. This is for the purpose.

[0093] FIG. 12 is a structural schematic diagram of a cargo storage location identification device according to a third embodiment of the present disclosure. As shown in FIG. 12, based on the first or second embodiment, the cargo storage location identification device 10 further includes: a receiving module 14 for receiving information on cargo deviations at each storage location reported by the shuttle car during the inspection process; a storage module 15 for storing cargo deviation information at each storage location; Includes:

[0094] In one specific implementation, The receiving module 14 is further for receiving the weight of each cargo reported by the weighing conveyor line upon entry of the cargo; The storage module 15 is further for storing the weight of each cargo and the storage location information of each cargo after the cargo is received.

[0095] In another specific embodiment, the processing module 12 further comprises: The weight, storage location information, and deviation information of all cargoes stored in the storage space are statistically analyzed to obtain the mapping relationship.

[0096] In another specific embodiment, the acquisition module 11 specifically includes: and receiving the cargo weight of the cargo waiting to be stored reported by the weighing conveyor line.

[0097] In another specific embodiment, the acquisition module 11 specifically includes: The access frequency of the cargo awaiting warehousing is acquired based on the location information of the cargo awaiting warehousing input by the user or acquired in advance.

[0098] The cargo storage location identification device provided by any of the above-mentioned implementation forms is for implementing the technical solution of the upper computer in any of the above-mentioned method embodiments, and its implementation principles and technical effects are the same, so they will not be repeated here.

[0099] 13 is a structural schematic diagram of an embodiment of a host computer provided by the present disclosure. As shown in FIG. 13, the host computer 100 includes: a processor 111; Memory 112; a communication interface 113; Including, the memory 112 for storing executable instructions for the processor 111; wherein the processor 111 is configured to execute the executable instructions to implement the technical solution of the cargo storage location identification method provided by any of the above method embodiments; It is something.

[0100] Optionally, memory 112 may be separate or integrated with processor 111 .

[0101] Optionally, if the memory 112 is a device independent of the processor 111, the host computer 100 may further include a bus for connecting the above devices.

[0102] The host computer is for implementing the technical solutions of any of the above-mentioned method embodiments, and the implementation principles and technical effects thereof are the same, and will not be repeated here.

[0103] An embodiment of the present disclosure further provides a readable storage medium having stored thereon a computer program that, when executed by a processor, implements the technical solutions provided by any of the above method embodiments.

[0104] An embodiment of the present disclosure further provides a computer program product, including a computer program for implementing the technical solutions provided by any of the above method embodiments when executed by a processor.

[0105] As can be understood by those skilled in the art, all or part of the steps for implementing each of the above method embodiments can be completed by hardware associated with program instructions. The above program can be stored in a computer-readable storage medium, and when the program is executed, the steps comprising each of the above method embodiments are performed. The above storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, and optical disk.

[0106] It should be noted that although the present disclosure has been described in detail with reference to the above embodiments, the above embodiments do not limit the technical solutions of the present disclosure, but are merely for the purpose of illustrating them. Those skilled in the art can understand that the technical solutions described in the above embodiments can still be modified, or equivalent replacements can be made for some or all of the technical features therein, without causing the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A processor acquires cargo weight of cargo awaiting warehousing; The processor acquires target storage location information identified for the cargo awaiting warehousing based on the cargo weight and a previously acquired mapping relationship, and identifies a storage location in a shelf storage location with the smallest deviation information corresponding to the cargo weight as a target storage location for the cargo awaiting warehousing based on the cargo weight and the mapping relationship, thereby obtaining the target storage location information, wherein the mapping relationship is a correspondence relationship between deviation information, weight, and storage location information for each cargo, and the deviation information includes a deviation distance and / or a deviation angle; Contains A method for identifying a cargo storage location, comprising:

2. The method further includes the processor obtaining an access frequency of the awaiting entry cargo, and identifying a target cargo partition within a shelf that satisfies a preset frequency optimization strategy based on the access frequency of the awaiting entry cargo; Correspondingly, acquiring target storage location information identified for the cargo awaiting warehousing based on the cargo weight and the previously acquired mapping relationship includes: and obtaining the target storage location information identified for the awaiting warehousing cargo based on the cargo weight, the access frequency, and the mapping relationship.

2. The method of claim 1 .

3. Obtaining target storage location information identified for the cargo awaiting warehousing based on the cargo weight, the access frequency, and the mapping relationship includes: the frequency optimization strategy indicates that the more frequently a cargo is accessed, the closer it is to a hoist, and the shelf includes a plurality of cargo partitions pre-assigned based on distances to support posts and distances to guide rails; Based on the cargo weight and the mapping relationship, identify a storage location in the target cargo partition that has the smallest deviation information corresponding to the cargo weight as a target storage location for the cargo waiting to be stored, and obtain the target storage location information; include 3. The method of claim 2.

4. Obtaining target storage location information identified for the cargo awaiting warehousing based on the cargo weight, the access frequency, and the mapping relationship includes: Identifying a plurality of storage locations from the shelves where deviation information corresponding to the cargo weight is less than a preset threshold based on the cargo weight and the mapping relationship; Identifying a target storage location from the plurality of storage locations that satisfies a preset frequency optimization strategy based on the access frequency of the cargo awaiting warehousing, and obtaining the target storage location information, wherein the frequency optimization strategy indicates that the higher the access frequency of the cargo, the closer it is to a hoist; Contains 3. The method of claim 2.

5. The method further includes the processor transmitting, based on the target storage location information, a storage command to a shuttle car to instruct the shuttle car to place the awaiting storage cargo at a location indicated by the target storage location information. The method according to any one of claims 1 to 4.

6. Prior to acquiring information on a target storage location identified for the cargo awaiting warehousing based on the cargo weight and the previously acquired mapping relationship, the method further comprises: The processor receives cargo deviation information at each storage location reported by the shuttle car during the inspection process; the processor stores cargo displacement information at each storage location; Contains The method according to any one of claims 1 to 4.

7. The method further comprises: the processor receiving the weight of each cargo item as reported by a weigh conveyor line upon entry of the cargo item; the processor stores the weight of each cargo and storage location information of each cargo after each cargo is received; Contains 7. The method of claim 6.

8. The method further includes the processor statistically analyzing the weight, storage location information, and deviation information of all cargoes stored in the storage space to obtain the mapping relationship.

8. The method of claim 7.

9. The acquisition of the cargo weight of the cargo waiting to be stored includes: receiving the cargo weight of the cargo awaiting warehousing reported by the weighing conveyor line. The method according to any one of claims 1 to 4.

10. The acquisition of the access frequency of the cargo waiting to be stored includes: and acquiring the access frequency of the cargo awaiting warehousing based on location information of the cargo awaiting warehousing input by a user or acquired in advance. The method according to any one of claims 2 to 4.

11. an acquisition module for acquiring cargo weight and access frequency of cargo awaiting storage; a processing module for acquiring target storage location information identified for the cargo awaiting warehousing based on the cargo weight and a mapping relationship acquired in advance, wherein acquiring the target storage location information includes: identifying a storage location in a shelf storage location with the smallest deviation information corresponding to the cargo weight as a target storage location for the cargo awaiting warehousing based on the cargo weight and the mapping relationship, and acquiring the target storage location information, wherein the mapping relationship is a correspondence relationship between deviation information, weight, and storage location information for each cargo, and the deviation information includes a deviation distance and / or a deviation angle; Contains A cargo storage location identification device characterized by:

12. a processor; Memory and a communication interface; Including, the memory is for storing executable instructions for the processor; The processor is arranged to perform the method of identifying cargo storage locations according to any one of claims 1 to 4 by executing the executable instructions. A host computer characterized by:

13. a host computer according to claim 12; Shuttle cars each connected to the host computer for communication; Hoist and A weighing conveyor line, Including, The shuttle car is for storing, retrieving and conducting patrol inspections of cargo in accordance with instructions from the host computer, the hoist is for lifting cargo in cooperation with the shuttle car in accordance with instructions from the host computer, and the weighing conveyor line is for identifying the weight of each cargo. A shuttle car system characterized by:

14. A readable storage medium on which a computer program is stored, When the computer program is executed by a processor, the method for identifying a cargo storage location according to any one of claims 1 to 4 is realized. A readable storage medium.

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