Method and apparatus for placing steel coil, and device, storage medium and program product

Abstract

Disclosed in the embodiments of the present application are a method and apparatus for placing a steel coil, and a device, a storage medium and a program product, which are applied to an overhead crane control system. The method comprises: on the basis of a starting position of an unmanned overhead crane and the position of a first target storage location, determining a traveling path of the unmanned overhead crane, wherein distance sensors are respectively provided at two sides below a clamp of the unmanned overhead crane, and each distance sensor is used for measuring the actual distance between the bottom of a corresponding side of the clamp and an object below; during the process of the unmanned overhead crane traveling to the first target storage location, collecting a group of distance data by means of the distance sensors at the two sides below the clamp; determining distance differences between distance information in the group of distance data; on the basis of the magnitude relationship between each distance difference and a preset first distance threshold value, determining whether the first target storage location is in a vacant state; and when the first target storage location is in a vacant state, controlling the clamp of the unmanned overhead crane to place a clamped steel coil into the first target storage location.

Description

Unwinding method, device, equipment, storage medium and program product of steel coil

[0001] Cross-reference to related applications

[0002] The present application is based on the Chinese patent application No.CN202410711429.5, filed on June 3, 2024, entitled "Unwinding method, device, equipment, storage medium and program product of steel coil", and claims priority to the Chinese patent application No.CN202410711429.5, the entire contents of which are hereby incorporated by reference into the present application. TECHNICAL FIELD

[0003] The present application relates to the field of automation, in particular to an unwinding method, device, equipment, storage medium and program product of steel coil. BACKGROUND

[0004] The warehouse management system dispatches the unmanned overhead traveling crane to store the steel coil on the empty storage location in the warehouse management system database. Since the weight of the steel coil is large and the smoothness requirement of the surface is high, collision during transportation will cause the quality of the steel coil to decrease or even be scrapped, so it is particularly important to avoid mutual collision of the steel coil due to the target storage location state error in the steel coil flat plane warehouse. The existing solution needs an operator to monitor whether collision will occur by observing the screen in the centralized control room, in the case of warehouse management system storage location state error, all unmanned overhead traveling cranes need to be suspended and manually intervened to solve the problem, which reduces the production efficiency of the equipment. And since the probability of the warehouse management system storage location state error is very low, the monitoring personnel in the centralized control room are easy to be complacent for a long time and cannot discover the danger source in time, which causes the steel coil collision to occur from time to time. SUMMARY

[0005] Therefore, the embodiments of the present application provide at least an unwinding method, device, equipment, storage medium and program product of steel coil.

[0006] The technical scheme of the embodiments of the present application is implemented as follows:

[0007] In one aspect, the embodiment of the present application provides a steel coil unwinding method applied to a crown block control system, the method comprising: determining a driving path of an unmanned crown block based on a starting position of the unmanned crown block and a position of a first target storage location; wherein distance sensors are arranged on both sides below a gripper of the unmanned crown block; the distance sensors are used to measure actual distances from bottoms of corresponding sides of the gripper to objects below; a set of distance data is collected by the distance sensors on both sides below the gripper in a process in which the unmanned crown block drives to the first target storage location; wherein the set of distance data comprises distance information of at least three detection points collected in a process in which the gripper moves to a width of the first target storage location; distance difference values between each distance information in the set of distance data are determined; whether the first target storage location is in an idle state is determined based on a size relationship between the distance difference values and a preset first distance threshold; and the gripper of the unmanned crown block is controlled to place a gripped steel coil into the first target storage location in a case where the first target storage location is in the idle state.

[0008] In another aspect, the embodiment of the present application provides a steel coil unwinding device, the device comprising: a first determining module configured to determine a driving path of an unmanned crown block based on a starting position of the unmanned crown block and a position of a first target storage location; wherein distance sensors are arranged on both sides below a gripper of the unmanned crown block; the distance sensors are used to measure actual distances from bottoms of corresponding sides of the gripper to objects below; a first collecting module configured to collect a set of distance data by the distance sensors on both sides below the gripper in a process in which the unmanned crown block drives to the first target storage location; wherein the set of distance data comprises distance information of at least three detection points collected in a process in which the gripper moves to a width of the first target storage location; a second determining module configured to determine distance difference values between each distance information in the set of distance data; a third determining module configured to determine whether the first target storage location is in an idle state based on a size relationship between the distance difference values and a preset first distance threshold; and a control module configured to control the gripper of the unmanned crown block to place a gripped steel coil into the first target storage location in a case where the first target storage location is in the idle state.

[0009] In still another aspect, the embodiment of the present application provides a computer device comprising a memory and a processor, the memory storing a computer program capable of running on the processor, and the processor implements part or all steps of the above method when executing the program.

[0010] In yet another aspect, the embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement part or all steps of the above method.

[0011] In yet another aspect, an embodiment of the present application provides a computer program product, which includes a non-transitory computer readable storage medium storing a computer program, and the computer program is read and executed by a computer to implement some or all of the steps in the above method.

[0012] In the embodiment of the present application, a set of distance data is collected by the distance sensors on both sides below the tongs of the unmanned overhead traveling crane during the process of the unmanned overhead traveling crane traveling to the first target storage location; whether the target storage location is in an idle state is determined based on the size relationship between the distance difference between each distance information in the set of distance data and the first distance threshold; and the tongs of the unmanned overhead traveling crane are controlled to put the steel coil clamped by the tongs into the target storage location in the case that the target storage location is in the idle state. In this way, the staff does not need to observe the monitoring to determine whether the target storage location is in the idle state, and the labor cost is reduced.

[0013] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, but not limiting the technical solutions of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0015] Fig. 1 is an implementation flowchart of a steel coil unwinding method provided by an embodiment of the present application;

[0016] Fig. 2A is an implementation flowchart of step S130 in Fig. 1 according to an embodiment of the present application;

[0017] Fig. 2B is a schematic diagram of the movement of the unmanned overhead traveling crane in the width direction of the storage location according to an embodiment of the present application;

[0018] Fig. 2C is a schematic diagram of the movement of the unmanned overhead traveling crane in the length direction of the storage location according to an embodiment of the present application;

[0019] Fig. 3 is an implementation flowchart of a steel coil unwinding method provided by an embodiment of the present application, in which one side distance sensor is turned on;

[0020] Fig. 4 is an implementation flowchart of a steel coil unwinding method provided by an embodiment of the present application, in which both side distance sensors are turned on;

[0021] Fig. 5 is an implementation flowchart of the detection of the lower layer storage location of the first target storage location according to an embodiment of the present application;

[0022] Fig. 6 is a flowchart illustrating a process for determining whether a lower layer storage location of a first target storage location exists and whether the outer diameter size of the steel coil is appropriate in the embodiment of the present application;

[0023] Fig. 7 is a flowchart illustrating a process in the case that the target storage location is not in an idle state or the steel coil size of the lower layer storage location of the target storage location is not appropriate or the steel coil of the lower layer storage location of the target storage location does not exist in the embodiment of the present application;

[0024] Fig. 8 is a flowchart illustrating a process for detecting a storage location of a steel coil plane warehouse of a trolley in the embodiment of the present application;

[0025] Fig. 9 is a schematic diagram of a trolley steel coil clamp sensor in the embodiment of the present application;

[0026] Fig. 10 is a schematic diagram of a single layer plane warehouse traditional trolley coil dropping position in the embodiment of the present application;

[0027] Fig. 11 is a schematic diagram of a single layer steel coil warehouse steel coil storage location detection position in the embodiment of the present application;

[0028] Fig. 12 is a schematic diagram of a single layer steel coil warehouse arrangement in the embodiment of the present application;

[0029] Fig. 13 is a schematic diagram of a double layer steel coil warehouse arrangement in the embodiment of the present application;

[0030] Fig. 14 is a schematic diagram of a detection process for determining whether a target storage location is in an idle state in the case that the target storage location is an upper layer steel coil storage location in the embodiment of the present application;

[0031] Fig. 15 is a schematic diagram of a detection process for determining whether a lower layer storage location of a target storage location is in an idle state in the embodiment of the present application;

[0032] Fig. 16 is a schematic diagram of a detection process for determining the outer diameter of a steel coil of a lower layer storage location of a target storage location in the embodiment of the present application;

[0033] Fig. 17 is a schematic diagram of a structure of a coil unwinding device in the embodiment of the present application;

[0034] Fig. 18 is a schematic diagram of a hardware entity of a computer device in the embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present application more clear, the technical solutions of the present application are further described in detail below in combination with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application.

[0036] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets as each other and as other subsets of all possible embodiments, and can be combined with each other in a manner that is not inconsistent with the principles of the application.

[0037] It should be noted that the terms "first", "second", "third" involved in the embodiments of the present application are only to distinguish similar objects, and do not represent the specific order of the objects. Understandably, "first", "second", "third" can be interchanged in a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0038] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments of the present application belong. It should also be understood that terms such as those defined in a general dictionary should be understood to have meanings consistent with those in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as such herein.

[0039] Unmanned overhead crane: refers to the application of intelligent technology to the overhead crane, so that the overhead crane can automatically complete the lifting task, has the functions of automatic control operation and movement, can be programmed, has the function of man-machine interaction, and can simulate manual operation.

[0040] Warehouse management system (WMS): an information system for managing warehouse business, which optimizes and controls each link of warehouse management through mathematical model and information means.

[0041] At present, the unmanned overhead crane steel coil flat warehouse has been applied in most steel plants. The location state of the unmanned overhead crane steel coil flat warehouse is stored by the warehouse management system, that is, the running track of the full-automatic overhead crane is recorded in the warehouse management system, and the data information of the steel coil is recorded in the database. The warehouse management system dispatches the unmanned overhead crane to store the steel coil on the vacant location in the warehouse management system database. Since the weight of the steel coil is large and the smoothness requirement of the surface is high, collision during transportation will cause the quality of the steel coil to decrease or even be scrapped, so it is particularly important to avoid mutual collision of the steel coil due to the error of the target location state in the unmanned overhead crane steel coil flat warehouse.

[0042] The common practice in the industry is to install monitoring cameras on unmanned trolleys, usually 4 to 6, and through wireless network to access the camera monitoring picture in the control room, and manually in the control room to observe these cameras to clearly see whether the target location specified by the warehouse management system is really empty. If the location has a coil, the device is stopped at this time through the emergency stop button in the control room, and then the coil on the trolley is placed in the adjacent empty location by manual operation, and the correct location state is updated to the warehouse management system by updating the data information in the warehouse management system. This method needs to suspend all unmanned trolleys when the warehouse management system has a location state error, and manually intervene to solve the problem, which will reduce the production efficiency of the equipment. And because the probability of the warehouse management system having a location state error is very low, the monitoring personnel in the control room are easy to be careless for a long time and cannot timely find the danger source, resulting in the situation of coil collision.

[0043] In order to avoid the risk of coil collision in the unmanned trolley coil plane warehouse, in the embodiment of the application, a detection sensor capable of detecting the vertical distance from the lower side of the clamp to the object below is installed below the clamp on both sides of the unmanned trolley to detect the state of the target location where the coil is to be stored, so as to determine whether the coil is to be placed in the target location. In the case of error of the target location issued by the warehouse management system, the unmanned trolley receives the new target location reissued by the warehouse management system and detects whether the new target location is idle until the coil is placed in the target location.

[0044] The embodiment of the application proposes a coil unwinding method, as shown in FIG. 1, which can include steps S110 to S150:

[0045] Step S110: determining the travel path of the unmanned trolley based on the starting position of the unmanned trolley and the position of the first target location;

[0046] The distance sensor is arranged on both sides below the clamp of the unmanned trolley; the distance sensor is used to measure the actual distance from the bottom of the corresponding side of the clamp to the object below.

[0047] Here, the starting position of the unmanned trolley is the starting position of the unmanned trolley when it travels to the first target location with the coil clamped; the first target location is the target location where the coil to be stored is issued to the unmanned trolley by the warehouse management system.

[0048] Here, the travel path of the unmanned trolley is the shortest travel path of the running track between the starting position and the first target location.

[0049] Step S120: collecting a set of distance data through the distance sensors on both sides below the clamp during the travel of the unmanned trolley to the first target location;

[0050] The set of distance data includes distance information of at least three detection points collected in the width of the first target storage location during movement of the clamp.

[0051] Here, distance sensors are respectively installed on both sides below the clamp; the distance sensors can collect vertical distances from the bottom of the clamp on one side to the object below. The set of distance data can be all data collected after the distance sensors are turned on.

[0052] Step S130: Determine the distance difference between each distance information in the set of distance data.

[0053] Here, the set of distance data includes all distance information collected by the distance sensors; the position of the target storage location and the target distance data matching the width of the target storage location need to be selected from the set of distance data; and the distance difference between each distance information in the target distance data is determined according to the selected target distance data.

[0054] Step S140: Determine whether the first target storage location is in an idle state based on the size relationship between the distance difference and a preset first distance threshold.

[0055] Here, the preset first distance threshold is set by the size of the outer diameter of the steel coil.

[0056] Here, in the case where the distance difference is less than the preset first distance threshold, the first target storage location is in an idle state; in the case where the distance difference is greater than or equal to the preset first distance threshold, the first target storage location is not in an idle state.

[0057] Step S150: In the case where the first target storage location is in an idle state, control the clamp of the unmanned trolley to place the clamped steel coil into the first target storage location.

[0058] Here, the target storage location can be a single-layer storage location or a multi-layer storage location. In some embodiments, for a single-layer storage location, in the case where the first target storage location is in an idle state, the clamp of the unmanned trolley is controlled to place the clamped steel coil into the first target storage location. For a multi-layer storage location, in the case where the first target storage location is in an idle state, it is further determined whether there is a steel coil in the lower layer of the first target storage location and whether the outer diameter size of the steel coil in the lower layer is appropriate.

[0059] In the embodiment of the present application, a set of distance data is collected by the distance sensors on both sides below the tongs of the unmanned overhead traveling crane during the process of the unmanned overhead traveling crane driving to the first target storage location; whether the target storage location is in an idle state is determined based on the size relationship between the distance difference between each distance information in the set of distance data and the first distance threshold; and in the case that the target storage location is in an idle state, the tongs of the unmanned overhead traveling crane are controlled to place the steel coil held by the tongs into the target storage location. In this way, the staff does not need to observe the monitoring to determine whether the target storage location is in an idle state, thereby reducing the labor cost.

[0060] In some embodiments, the step S130 of determining the distance difference between each distance information in the set of distance data can include steps S201 and S202, as shown in FIG. 2A.

[0061] Step S201: filtering out the position of the first target storage location and the target distance data matching the width of the first target storage location from the set of distance data;

[0062] Generally, the unmanned overhead traveling crane moves in one dimension (for example, width or length). In the embodiment, the movement of the unmanned overhead traveling crane in the width direction of the storage location is taken as an example, that is, the movement path of the unmanned overhead traveling crane generally runs through the width direction of multiple storage locations. In other embodiments, if the movement of the unmanned overhead traveling crane is in the length direction of the storage location, the unmanned overhead traveling crane also needs to move in the width direction after reaching the specified position to detect whether the storage location is idle by the distance sensor.

[0063] Here, it is assumed that the movement of the unmanned overhead traveling crane is in the width direction of the storage location, and the distance sensor detects the distance data at the detection points near the first target storage location. As shown in FIG. 2B, a total of eight storage locations 21 to 28 are included, the first target storage location is storage location 27, and the unmanned overhead traveling crane is controlled to place the steel coil 211 to be stored into the storage location 27; the distance sensor closest to the storage location 27 in the driving path direction 215 is the first sensor 212, and the sensor farthest from the storage location 27 is the second sensor 213, so the first sensor 212 will collect all the data in the width direction of the storage location, which is included in the target distance data.

[0064] Here, it is assumed that the movement of the unmanned aerial vehicle is in the length direction of the storage location, and the unmanned aerial vehicle needs to move in the width direction of the storage location to the first target storage location, and the distance sensor detects the distance data collected by the detection point near the first target storage location. As shown in FIG. 2C, a total of 8 storage locations 29-36 are included, the first target storage location is storage location 33, and the unmanned aerial vehicle is controlled to place the coil 221 to be stored in the storage location 33; the distance sensor closest to the storage location 33 in the direction 225 of the travel path is the first sensor 222, and the distance sensor farthest from the storage location 33 is the second sensor 223, and then the first sensor 222 will collect all the data in the width direction of the storage location, which is included in the target distance data.

[0065] Step S202: determining the distance difference between each distance information in the target distance data.

[0066] Here, according to the selected target distance data, the difference of each distance information in the target distance data is determined.

[0067] In the embodiments of the present application, based on the target distance data selected from the group of distance data, the position of the first target storage location and the width of the first target storage location are matched, and the distance difference between each distance information in the target distance data is determined. Using the distance difference between each distance information in the target distance data can accurately detect the state of the first target storage location and determine whether the first target storage location can be placed.

[0068] The embodiments of the present application propose a coil unwinding method, and two distance sensors can only need to start one, as shown in FIG. 3, which can include steps S301-S307:

[0069] Step S301: determining the travel path of the unmanned aerial vehicle based on the starting position of the unmanned aerial vehicle and the position of the first target storage location.

[0070] Wherein, the distance sensor is arranged on both sides below the clamp of the unmanned aerial vehicle; the distance sensor is used to measure the actual distance from the bottom of the corresponding side of the clamp to the object below.

[0071] Here, step S301 corresponds to step S110 described above.

[0072] Step S302: determining the target side direction of the current distance detection point located at the position of the first target storage location based on the direction of the travel path of the unmanned aerial vehicle.

[0073] In some embodiments, the target side direction is one side of the two sides of the clamp of the unmanned aerial vehicle, for example, referring to FIG. 2B, the target side direction is the right side, and in FIG. 2C, the target side direction is the lower side.

[0074] Step S303: In the process that the unmanned trolley travels to the first target storage location, based on the target side direction, control the distance sensor on the corresponding side of the tongs of the unmanned trolley to collect a set of distance data;

[0075] The set of distance data includes distance information of at least three detection points collected in the process that the tongs move to the width of the first target storage location.

[0076] Here, step S303 corresponds to step S120 described above.

[0077] Continuing to refer to FIG. 2B, when the target side direction is the right side, the distance sensor on the corresponding side of the tongs of the unmanned trolley is the first sensor 212, that is, the first sensor 212 is controlled to collect a set of distance data, and in FIG. 2C, when the target side direction is the lower side, the distance sensor on the corresponding side of the tongs of the unmanned trolley is the first sensor 222, that is, the first sensor 222 is controlled to collect a set of distance data.

[0078] Step S304: From the set of distance data, filter out the position of the first target storage location and target distance data matching the width of the first target storage location;

[0079] Step S305: Determine the distance difference between each distance information in the target distance data;

[0080] Here, step S304 and step S305 correspond to step S201 and step S202 described above, respectively.

[0081] Step S306: Based on the size relationship between the distance difference and a preset first distance threshold, determine whether the first target storage location is in an idle state;

[0082] Step S307: In the case that the first target storage location is in an idle state, control the tongs of the unmanned trolley to put the clamped steel coil into the first target storage location.

[0083] Here, step S306 and step S307 correspond to step S140 and step S150 described above, respectively.

[0084] In the embodiments of the present application, based on the travel path direction of the unmanned trolley, the target side direction of the current distance detection point located at the position of the first target storage location is determined; in the target side direction, the distance sensor on the corresponding side of the tongs of the unmanned trolley is controlled to collect a set of distance data. In this way, only the distance sensor in the target side direction is turned on during the travel of the unmanned trolley, which not only saves resources, but also filters out target distance data more quickly and accurately.

[0085] The present application provides a steel coil unwinding method, as shown in FIG. 4, which can include steps S401 to S408:

[0086] Step S401: determining a travel path of the unmanned straddle carrier based on a starting position of the unmanned straddle carrier and a position of the first target storage location;

[0087] Here, step S401 corresponds to step S110 described above.

[0088] Step S402: in response to the starting instruction, controlling the distance sensors arranged on both sides below the gripper of the unmanned straddle carrier to collect a set of distance data during the process of controlling the unmanned straddle carrier to travel to the first target storage location according to the determined travel path;

[0089] Here, the collected set of distance data includes the data collected by the distance sensors arranged on both sides below the gripper of the unmanned straddle carrier; continuing to refer to FIG. 2B, the collected set of distance data includes the distance data collected by the first sensor 212 and the second sensor 213, and in FIG. 2C, the collected set of distance data includes the distance data collected by the first sensor 222 and the second sensor 223.

[0090] Step S403: determining a target distance sensor corresponding to the travel path direction of the unmanned straddle carrier from the distance sensors arranged on both sides below the gripper of the unmanned straddle carrier;

[0091] Here, the travel path direction of the unmanned straddle carrier is the shortest path direction from the starting position to the target storage location of the unmanned straddle carrier.

[0092] The target distance sensor is the distance sensor corresponding to the gripper below the unmanned straddle carrier close to the target storage location in the travel path direction of the unmanned straddle carrier; continuing to refer to FIG. 2B, the target distance sensor is the first sensor 212, and in FIG. 2C, the target distance sensor is the first sensor 222.

[0093] Step S404: screening distance data collected by the target distance sensor from the set of distance data;

[0094] Here, the distance data is the distance data collected by the target distance sensor.

[0095] Step S405: screening target distance data matching the position of the first target storage location and the width of the first target storage location from the distance data;

[0096] Here, the target distance data is the distance data detected by the target distance sensor at the detection point near the first target storage location, and the distance data includes distance information of at least three detection points collected during the movement of the gripper to the width of the first target storage location.

[0097] Step S406: determining distance difference values between the distance information in the target distance data;

[0098] Here, steps S406 to S405 correspond to the above steps S130.

[0099] Step S407: determining whether the first target storage location is in an idle state based on a size relationship between the distance difference value and a preset first distance threshold value.

[0100] Step S408: in the case where the first target storage location is in an idle state, controlling the clamp of the unmanned trolley to place the clamped steel coil into the first target storage location.

[0101] Here, steps S407 and S408 correspond to the above steps S140 and S150, respectively.

[0102] In the present embodiment, in the process of the unmanned trolley traveling to the first target storage location according to the determined travel path, the distance sensors arranged on both sides below the clamp of the unmanned trolley are controlled to collect a set of distance data; target distance data collected by target distance sensors corresponding to the travel path direction of the unmanned trolley are screened out; target distance data matching the position of the first target storage location and the width of the first target storage location are screened out based on the target distance data; and distance difference values between distance information in the target distance data are determined. This screening method of target distance data can screen out target distance data matching the position of the first target storage location and the width of the first target storage location from the distance data collected by the distance sensors arranged on both sides below the clamp of the unmanned trolley.

[0103] In some embodiments, the first target storage location is an upper storage location, and in the case where the first target storage location is in an idle state, the clamp of the unmanned trolley is controlled to place the clamped steel coil into the first target storage location, which can include steps S501 to S503 as shown in FIG. 5:

[0104] Step S501: screening out target distance information when the unmanned trolley is located at the first target storage location from distance information in the set of distance data;

[0105] Here, the target distance information is distance information collected when the unmanned trolley is located at the first target storage location; and is used to determine whether there is a steel coil in the lower storage location of the first target storage location and the outer diameter size of the steel coil.

[0106] Step S502: determining whether there is a steel coil in the lower storage location of the first target storage location based on distance information from the bottom of the clamp to the ground and the target distance information.

[0107] Here, the distance from the clamp bottom to the ground is known information; the target distance information is selected from a set of distance data; by comparing the size relationship between the distance from the clamp bottom to the ground and the target distance information, it is determined whether there is a steel coil in the lower layer of the first target storage location.

[0108] Step S503: In the case that there is a steel coil in the lower layer of the first target storage location, and the outer diameter size of the steel coil in the lower layer of the first target storage location is appropriate, the clamp of the unmanned trolley is controlled to put the clamped steel coil into the first target storage location.

[0109] Here, in the case that the difference between the distance from the clamp bottom to the ground and the target distance information is less than or equal to the preset second distance threshold, it is determined that there is no steel coil in the lower layer of the first target storage location.

[0110] On the basis of the embodiment shown in FIG. 5, as shown in FIG. 6, the method can further include steps S601 to S607:

[0111] Step S601: Selecting the target distance information when the unmanned trolley is located at the first target storage location from each distance information in the set of distance data;

[0112] Here, step S601 corresponds to the above-mentioned step S501.

[0113] Step S602: Determining the target difference between the distance from the clamp bottom to the ground and the target distance information;

[0114] Here, the distance from the clamp bottom to the ground is known information; the target distance information is selected from a set of distance data collected by the distance sensor.

[0115] Step S603: In the case that the target difference is greater than the preset second distance threshold, it is determined that there is a steel coil in the lower layer of the first target storage location;

[0116] Step S604: In the case that the target difference is less than or equal to the preset second distance threshold, it is determined that there is no steel coil in the lower layer of the first target storage location;

[0117] Step S605: In the case that there is a steel coil in the lower layer of the first target storage location, and the difference between the target distance information is less than the preset third distance threshold, it is determined that the outer diameter size of the steel coil in the lower layer of the first target storage location is appropriate;

[0118] Here, in the case that the outer diameter size of the steel coil in the lower layer of the first target storage location is appropriate, the clamp of the unmanned trolley is controlled to put the clamped steel coil into the first target storage location.

[0119] Step S606: In the case that there is a coil in the lower layer storage location of the first target storage location, and the difference between the target distance information is greater than or equal to the preset third distance threshold, it is determined that the outer diameter size of the coil in the lower layer storage location of the first target storage location is not suitable.

[0120] In the case that the outer diameter size of the coil in the lower layer storage location of the first target storage location is not suitable, a signal of unsuitable storage location state is sent to the warehouse management system.

[0121] Step S607: In the case that there is a coil in the lower layer storage location of the first target storage location, and the outer diameter size of the coil in the lower layer storage location of the first target storage location is suitable, the clamp of the unmanned trolley is controlled to put the clamped coil into the first target storage location.

[0122] Here, step S607 corresponds to step S503 described above.

[0123] On the basis of the embodiment shown in FIG. 5, as shown in FIG. 7, in the case that the state of the first target storage location is not an idle state, or the outer diameter size of the coil in the lower layer storage location of the first target storage location is not suitable, or there is no coil in the lower layer storage location of the first target storage location, the method can further include steps S701 to S705:

[0124] Step S701: sending a signal of storage location occupation to the warehouse management system;

[0125] Here, after the warehouse management system receives the signal of storage location occupation, the first target storage location is marked as an abnormal storage location, and the warehouse management system sends a second target storage location to the unmanned trolley.

[0126] Step S702: in response to the second target storage location issued by the warehouse management system, based on the starting position of the unmanned trolley and the position of the second target storage location, the travel path of the unmanned trolley is determined;

[0127] Here, the shortest path from the starting position of the unmanned trolley to the position of the second target storage location is the travel path of the unmanned trolley.

[0128] Step S703: in the process of the unmanned trolley traveling to the second target storage location, a set of distance data is collected by the distance sensors on both sides below the clamp;

[0129] Step S704: the distance difference between each distance information in the set of distance data is determined;

[0130] Here, the target distance data matching the position of the second target storage location and the width of the second target storage location is selected from the set of distance data; the distance difference between each distance information in the target distance data is determined.

[0131] Step S705: In the case that the distance difference value is less than the fourth preset distance threshold value, it is determined that the state of the second target storage location is an idle state.

[0132] In the embodiment of the present application, in the case that the state of the first target storage location is not an idle state, or the outer diameter size of the steel coil in the lower layer storage location of the first target storage location is not appropriate, or the steel coil does not exist in the lower layer storage location of the first target storage location, a signal of storage location occupation is sent to the WMS system, and after the unmanned aerial vehicle receives the second target storage location reissued by the WMS system, it is determined again whether the second target storage location is an idle state, which avoids equipment downtime and improves production efficiency.

[0133] The above-described steel coil unwinding method will be described in detail below in combination with a specific embodiment, however, it should be noted that the specific embodiment is only for better illustrating the present application and does not constitute an improper limitation on the present application.

[0134] The embodiment of the present application provides a general technical scheme of a steel coil unwinding method, as shown in FIG. 8, which can include steps S801 to S811:

[0135] Step S801: receiving a storage task initiated by the WMS system;

[0136] Step S802: the unmanned aerial vehicle carrying the steel coil travels to a target storage location detection position;

[0137] A vertically downward distance sensor is installed on the clamps on both sides of the unmanned aerial vehicle, which can measure the actual distance from the bottom of the clamp to the object below, as shown in FIG. 9, the distance sensor detects the actual distance from the bottom of the clamp to the object below through sensor ranging laser 901 and sensor ranging laser 902, the measurement range is 20 meters (m), and the accuracy of the measurement value is ±3mm (about).

[0138] Since the width size of the steel coil varies, when the unmanned aerial vehicle carrying the steel coil is located directly above the target storage location, the distance sensor installed on the clamp of the unmanned aerial vehicle cannot detect whether a steel coil is placed in the storage location, as shown in FIG. 10, the sensor ranging laser 1001 and the sensor ranging laser 1002 fall outside the target storage location 1003. Therefore, two additional steel coil storage location detection positions are added outside the position directly above the target storage location, as shown in FIG. 11, the two additional steel coil storage location detection positions are respectively a left detection position 1101 and a right detection position 1102, which are respectively located at 500mm on both sides of the steel coil directly above.

[0139] In a coil unwinding process, the unmanned overhead crane control system determines whether the coil position detection position of the current coil unwinding is located on the left side or the right side of the target rack position based on the starting position of the unmanned overhead crane and the target rack position. The determination logic is based on the shortest trajectory algorithm of the overhead crane.

[0140] Based on the determined running trajectory of the unmanned overhead crane, the clamp of the unmanned overhead crane holds the steel coil and drives to the coil position detection position of the current coil unwinding.

[0141] Step S803: Start target rack detection;

[0142] If the difference between the distance information detected by the coil position detection position and the distance from the ground under the clamp of the unmanned overhead crane is less than the preset first distance threshold, it is determined that the target rack is empty.

[0143] If the difference between the distance information detected by the coil position detection position and the distance from the ground under the clamp of the unmanned overhead crane is greater than or equal to the preset first distance threshold, it is determined that the target rack is not empty.

[0144] Step S804: Whether the target rack is empty;

[0145] If the target rack is empty, go to step S805; otherwise, go to step S809;

[0146] Step S805: Whether it is a double-layer steel coil warehouse;

[0147] If it is a double-layer steel coil warehouse, go to step S806; otherwise, go to step S811;

[0148] The steel coil warehouse is divided into a single-layer steel coil warehouse and a double-layer steel coil warehouse. The single-layer steel coil warehouse arrangement schematic diagram is shown in FIG. 12, including a single-layer rack 1201; the double-layer steel coil warehouse arrangement schematic diagram is shown in FIG. 13, including an upper layer rack 1301 and a lower layer rack 1302.

[0149] In the case of a single-layer steel coil warehouse, the steel coil is stored; in the case of a double-layer steel coil warehouse, the lower layer rack of the target rack needs to be further detected in step S805.

[0150] Step S806: The unmanned overhead crane drives the steel coil to the position above the target rack;

[0151] Step S807: Start lower layer rack detection;

[0152] For a double-layer steel coil warehouse, a multiple detection method is used to detect the state of the steel coil rack. The detection method of whether the target rack is in an idle state is shown in FIG. 14.

[0153] For example, for a double-layer steel coil warehouse, the first step is to check whether the upper layer steel coil position is empty. The detection principle is similar to that of a single-layer steel coil warehouse, as shown in Figure 14. The target warehouse position detection location 1402 is located 500mm to the left or right of the target warehouse position 1401.

[0154] After confirming that target storage location 1401 is empty, the lower-level steel coil storage location is detected again. This detection serves two purposes: first, to check if any steel coils are present in the lower-level storage location. As shown in Figure 15, the unmanned overhead crane collects distance information at the detection position 1501 using sensor ranging lasers 1502 and 1503. The collected distance information is compared with the distance from the bottom of the crane's clamps to the ground to determine if any steel coils are present in the lower-level storage location.

[0155] Secondly, when inspecting the lower layer of steel coils, the outer diameter of the lower layer steel coils is also checked to avoid a situation where the outer diameters of the two lower layer steel coils differ too much. As shown in Figure 16, the unmanned overhead crane collects distance information at the detection position 1601 of the lower storage location through sensor ranging laser 1602 and sensor ranging laser 1603. The distance information collected by sensor ranging laser 1602 and sensor ranging laser 1603 is compared to determine whether the outer diameter of the lower layer steel coils is appropriate.

[0156] Step S808: Check whether the lower layer steel coil storage location and the outer diameter of the steel coil meet the requirements;

[0157] If the outer diameter of the steel coil in the lower layer of the warehouse meets the requirements, proceed to step S811; otherwise, proceed to step S809.

[0158] Step S809: Feedback to the WMS warehouse management system regarding warehouse space occupancy;

[0159] Step S810: The WMS warehouse management system issues a new target warehouse location; and proceeds to step S802.

[0160] The warehouse management system issues a new target storage location, and then proceeds to step S802 to repeat the above detection process.

[0161] Step S811: Steel coils are put into storage.

[0162] Place the steel coils into the target storage location.

[0163] In the embodiments of the present application, a coil target storage location detection position is newly added in the unmanned trolley control system, and the unmanned trolley can detect whether a coil exists in the target storage location through the installed sensor at the position. This method can free the control room staff from observing the monitoring to prevent coil collision. When the target storage location state is detected to be incorrect, the unmanned trolley control system can feed back information to the WMS warehouse management system, and then the WMS warehouse management system sends a new target storage location to the unmanned trolley control system to place the coil into the new target storage location. This method can successfully place the incoming coil into the new target storage location without stopping the equipment, thereby avoiding equipment downtime and affecting production.

[0164] Based on the foregoing embodiments, the embodiments of the present application provide a coil unwinding device, which includes various modules and units included in the modules, and can be implemented by a processor in a computer device. Of course, it can also be implemented by a specific logic circuit. In the implementation process, the processor can be a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA).

[0165] The embodiments of the present application provide a coil unwinding device. As shown in FIG. 17, the coil unwinding device 1700 includes:

[0166] A first determination module 1701 is configured to determine a travel path of an unmanned trolley based on a starting position of the unmanned trolley and a position of a first target storage location. The unmanned trolley is provided with a distance sensor on each side below the clamp. The distance sensor is used to measure the actual distance from the bottom of the corresponding side of the clamp to the object below.

[0167] A first acquisition module 1702 is configured to acquire a set of distance data through the distance sensors on both sides below the clamp during the travel of the unmanned trolley to the first target storage location. The set of distance data includes distance information of at least three detection points collected on the width of the first target storage location during the movement of the clamp.

[0168] A second determination module 1703 is configured to determine the distance difference between each distance information in the set of distance data.

[0169] A third determination module 1704 is configured to determine whether the first target storage location is in an idle state based on the size relationship between the distance difference and a preset first distance threshold.

[0170] The control module 1705 is configured to control the clamp of the unmanned trolley to place the clamped steel coil into the first target storage location in the case that the first target storage location is in an idle state.

[0171] In some embodiments, the second determination module includes: a first screening unit, configured to screen out the position of the first target storage location and target distance data matching the width of the first target storage location from the set of distance data; and a first determination unit, configured to determine distance difference values between distance information in the target distance data.

[0172] In some embodiments, the steel coil unwinding device further includes: a fourth determination module, configured to determine, based on the travel path direction of the unmanned trolley, that the current distance detection point is located in a target side direction of the first target storage location position; and a second acquisition module, configured to control, based on the target side direction, the distance sensor on the corresponding side below the clamp of the unmanned trolley to acquire the set of distance data.

[0173] In some embodiments, the first acquisition module includes: a first control unit, configured to, in response to a start instruction, control the distance sensors on both sides below the clamp of the unmanned trolley to acquire a set of distance data in the process of controlling the unmanned trolley to travel to the first target storage location according to the determined travel path; a second determination unit, configured to determine, from the distance sensors on both sides below the clamp, a target distance sensor corresponding to the travel path direction of the unmanned trolley; a first acquisition unit, configured to screen target distance data acquired by the target distance sensor from the set of distance data; and a third determination unit, configured to determine distance difference values between distance information in the target distance data.

[0174] In some embodiments, the control module includes: a second screening unit, configured to screen, from distance information in the set of distance data, target distance information when the unmanned trolley is located in the first target storage location; a fourth determination unit, configured to determine, based on the distance information of the distance from the bottom of the clamp to the ground and the target distance information, whether there is a steel coil in the lower layer storage location of the first target storage location; and a second control unit, configured to control the clamp of the unmanned trolley to place the clamped steel coil into the first target storage location in the case that there is a steel coil in the lower layer storage location of the first target storage location and the outer diameter size of the steel coil in the lower layer storage location of the first target storage location is appropriate.

[0175] In some embodiments, the fourth determining unit comprises: a first determining sub-unit, configured to determine a target difference between the distance information of the clamp bottom to the ground and the target distance information; a second determining sub-unit, configured to determine that a coil exists in the lower layer storage location of the first target storage location in a case that the target difference is greater than a preset second distance threshold; and determine that a coil does not exist in the lower layer storage location of the first target storage location in a case that the target difference is less than or equal to the preset second distance threshold; and a third determining sub-unit, configured to determine whether the outer diameter size of the coil in the lower layer storage location of the first target storage location is appropriate based on the target distance information.

[0176] In some embodiments, the third determining sub-unit is further configured to determine that the outer diameter size of the coil in the lower layer storage location of the first target storage location is appropriate in a case that the difference between the target distance information is less than a preset third distance threshold; and determine that the outer diameter size of the coil in the lower layer storage location of the first target storage location is inappropriate in a case that the difference between the target distance information is greater than or equal to the preset third distance threshold.

[0177] In some embodiments, the control module further comprises: a sending unit, configured to send a signal of storage location occupation to a storage management system; a fifth determining unit, configured to determine a travel path of the unmanned trolley based on the starting position of the unmanned trolley and the position of the second target storage location in response to the second target storage location issued by the storage management system; a second collecting unit, configured to collect a set of distance data through the distance sensors on both sides below the clamp during the travel of the unmanned trolley to the second target storage location; a sixth determining unit, configured to determine a distance difference between each distance information in the set of distance data; and a seventh determining unit, configured to determine that the state of the second target storage location is an idle state in a case that the distance difference is less than the preset fourth distance threshold.

[0178] The above description of the device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. In some embodiments, the device provided by the embodiments of the present application has functions or includes modules that can be used to execute the methods described in the above method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application.

[0179] It should be noted that, in the embodiments of the present application, if the above-mentioned method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product in essence or the part that contributes to the related art, which is stored in a storage medium, includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various media that can store program codes. Thus, the embodiments of the present application are not limited to any specific hardware, software or firmware, or any combination of hardware, software and firmware.

[0180] The embodiments of the present application provide a computer device, including a memory and a processor, the memory stores a computer program capable of running on the processor, and the processor implements part or all of the steps of the above method when executing the program.

[0181] The embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement part or all of the steps of the above method. The computer readable storage medium can be transitory or non-transitory.

[0182] The embodiments of the present application provide a computer program, which includes computer readable code, and when the computer readable code runs in a computer device, a processor in the computer device executes part or all of the steps for implementing the above method.

[0183] The embodiments of the present application provide a computer program product, which includes a non-transitory computer readable storage medium storing a computer program, and when the computer program is read and executed by a computer, part or all of the steps of the above method are implemented. The computer program product can be implemented by hardware, software or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (Software Development Kit, SDK) and the like.

[0184] It should be noted that the above description of the various embodiments is directed to highlighting the differences between the various embodiments, and the same or similar parts can be mutually referred to. The above description of the device, storage medium, computer program and computer program product embodiments is similar to the description of the method embodiments, and has similar beneficial effects. For technical details of the device, storage medium, computer program and computer program product embodiments not disclosed in the present application, please refer to the description of the method embodiments.

[0185] The computer device provided in the embodiments of the present application is shown in FIG. 18. The hardware entities of the computer device 1800 include a processor 1801, a communication interface 1802 and a memory 1803. The processor 1801 generally controls the overall operation of the computer device 1800. The communication interface 1802 enables the computer device to communicate with other terminals or servers through a network. The memory 1803 is configured to store instructions and applications executable by the processor 1801, and can also cache data to be processed by the processor 1801 and data processed or being processed by each module in the computer device 1800 (for example, image data, audio data, voice communication data and video communication data), which can be implemented by FLASH or Random Access Memory (RAM). The processor 1801, the communication interface 1802 and the memory 1803 can transmit data through a bus 1804.

[0186] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that the size of the sequence number of each step / process in various embodiments of the present application does not mean the execution order, and the execution order of each step / process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above sequence number of the embodiments of the present application is only for description, not representing the advantages or disadvantages of the embodiments.

[0187] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0188] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other manners. The above described device embodiments are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling, or direct coupling or communication connection between the components can be indirect coupling or communication connection through some interfaces, devices, or units, and can be electrical, mechanical, or in other forms.

[0189] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units; they can be located in one place, or distributed on multiple network units; and some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments. In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can be a separate unit, or two or more units can be integrated into a unit; the integrated unit can be realized in the form of hardware, or in the form of hardware plus software functional units.

[0190] Those of ordinary skill in the art can understand that all or part of the steps of the above-described method embodiments can be completed by program instruction related hardware, and the aforementioned program can be stored in a computer readable storage medium, and when the program is executed, the steps of the method embodiments are executed; and the aforementioned storage medium includes mobile storage devices, read only memory (ROM), magnetic discs or optical discs, and various program code storage media.

[0191] Alternatively, the above-mentioned integrated unit of the present application, if realized in the form of a software function module and sold or used as an independent product, can also be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: mobile storage devices, ROM, magnetic disks or optical disks, and various other media that can store program codes.

[0192] The above is only an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Industrial applicability

[0193] In the embodiment of the present application, a set of distance data is collected by the distance sensors on both sides below the tongs of the unmanned overhead traveling crane during the process of the unmanned overhead traveling crane driving to the first target storage location; based on the size relationship between the distance difference between each distance information in the set of distance data and the first distance threshold, it is determined whether the target storage location is in an idle state; in the case that the target storage location is in an idle state, the tongs of the unmanned overhead traveling crane are controlled to put the clamped steel coil into the target storage location. In this way, it is not necessary for the staff to observe and monitor to determine whether the target storage location is in an idle state, thereby reducing the labor cost.

Claims

1. A method for unwinding a steel coil, applied to a crown block control system, the method comprising: determining a travel path of an unmanned crown block based on a starting position of the unmanned crown block and a position of a first target storage location; wherein the unmanned crown block is provided with distance sensors on both sides below a gripper of the unmanned crown block; the distance sensors are configured to measure actual distances from a bottom of a corresponding side of the gripper to an object below; acquiring a set of distance data by the distance sensors on both sides below the gripper during travel of the unmanned crown block to the first target storage location; wherein the set of distance data comprises distance information of at least three detection points collected during movement of the gripper with respect to a width of the first target storage location; determining distance difference values between the distance information in the set of distance data; determining whether the first target storage location is in an idle state based on a size relationship between the distance difference values and a preset first distance threshold value; in a case where the first target storage location is in the idle state, controlling the gripper of the unmanned crown block to place a steel coil held by the gripper into the first target storage location.

2. The method as claimed in claim 1, wherein, The determining of the distance difference values between the distance information in the set of distance data comprises: filtering, from the set of distance data, a position of the first target storage location and target distance data matching a width of the first target storage location; determining distance difference values between the distance information in the target distance data.

3. The method as claimed in claim 1 or 2, wherein, The method further comprises: determining a target side direction in which a current distance detection point is located relative to the position of the first target storage location based on a travel direction of the unmanned crown block; The acquiring of the set of distance data by the distance sensors on both sides below the gripper comprises: based on the target side direction, controlling the distance sensors on corresponding sides below the gripper of the unmanned crown block to acquire the set of distance data.

4. The method as claimed in claim 1 or 2, wherein, The acquiring of the set of distance data by the distance sensors on both sides below the gripper during travel of the unmanned crown block to the first target storage location comprises: in response to a starting instruction, controlling the distance sensors on both sides below the gripper of the unmanned crown block to acquire the set of distance data during travel of the unmanned crown block to the first target storage location according to the determined travel path; The determining of the distance difference values between the distance information in the set of distance data comprises: determining, from the distance sensors on both sides below the gripper, a target distance sensor corresponding to the travel direction of the unmanned crown block; filtering, from the set of distance data, target distance data acquired by the target distance sensor; determining distance difference values between the distance information in the target distance data.

5. The method of any one of claims 1 to 4, wherein, The first target storage location is an upper storage location, and in a case where the first target storage location is in the idle state, the controlling of the gripper of the unmanned crown block to place the steel coil held by the gripper into the first target storage location comprises: filtering, from the distance information in the set of distance data, target distance information when the unmanned crown block is located at the first target storage location; determining whether there is a steel coil in a lower storage location of the first target storage location based on a distance from a bottom of the gripper to the ground and the target distance information; In the case that a coil exists in the lower layer storage location of the first target storage location and the outer diameter size of the coil in the lower layer storage location of the first target storage location is appropriate, the clamp of the unmanned trolley is controlled to put the clamped coil into the first target storage location.

6. The method as recited in claim 5, wherein, The method comprises the following steps: determining a target difference value between the distance information from the bottom of the clamp to the ground and the target distance information; in the case that the target difference value is greater than a preset second distance threshold value, it is determined that a coil exists in the lower layer storage location of the first target storage location; in the case that the target difference value is less than or equal to the preset second distance threshold value, it is determined that no coil exists in the lower layer storage location of the first target storage location; based on the target distance information, determining whether the outer diameter size of the coil in the lower layer storage location of the first target storage location is appropriate, comprising: in the case that the difference value between the target distance information is less than a preset third distance threshold value, it is determined that the outer diameter size of the coil in the lower layer storage location of the first target storage location is appropriate; in the case that the difference value between the target distance information is greater than or equal to the preset third distance threshold value, it is determined that the outer diameter size of the coil in the lower layer storage location of the first target storage location is inappropriate.

7. The method as recited in claim 5, wherein, in the case that the state of the first target storage location is not an idle state, or the outer diameter size of the coil in the lower layer storage location of the first target storage location is inappropriate, or no coil exists in the lower layer storage location of the first target storage location, the method further comprises: sending a storage location occupation signal to a storage management system; based on the starting position of the unmanned trolley and the position of the second target storage location, determining the travel path of the unmanned trolley in response to the second target storage location issued by the storage management system; in the process of the unmanned trolley traveling to the second target storage location, a set of distance data is collected by the distance sensors on both sides below the clamp; determining the distance difference value between each distance information in the set of distance data; in the case that the distance difference value is less than the preset fourth distance threshold value, it is determined that the state of the second target storage location is an idle state.

8. An unwinding device of a steel coil, wherein comprising: a first determination module configured to determine the travel path of the unmanned trolley based on the starting position of the unmanned trolley and the position of the first target storage location; wherein distance sensors are respectively arranged on both sides below the clamp of the unmanned trolley; the distance sensors are used to measure the actual distance from the bottom of the corresponding side of the clamp to the object below; a first acquisition module configured to collect a set of distance data by the distance sensors on both sides below the clamp in the process of the unmanned trolley traveling to the first target storage location; wherein the set of distance data comprises distance information of at least three detection points collected on the width of the first target storage location in the process of the movement of the clamp; a second determination module configured to determine the distance difference value between each distance information in the set of distance data; a third determination module configured to determine whether the first target storage location is in an idle state based on the size relationship between the distance difference value and a preset first distance threshold value; The control module is configured to control the tongs of the unmanned trolley to place the clamped steel coil into the first target storage location when the first target storage location is in an idle state.

9. A computer device comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein, The processor implements the steps in the method of any one of claims 1 to 7 when executing the program.

10. A computer readable storage medium having stored thereon a computer program, wherein, The computer program, when executed by the processor, implements the steps in the method of any one of claims 1 to 7.

11. A computer program product comprising computer programs or instructions, wherein, The computer program or instructions, when executed by the processor, implement the steps in the method of any one of claims 1 to 7.

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