898 results about "Overhead crane" patented technology

The present invention discloses a method, apparatus, medium, and device for sway control of an overhead crane, the method comprising: establishing a lifting strategy corresponding to the target lifting operation; obtaining training data of the target operator controlling the crane bridge and / or trolley to complete a simulated lifting operation according to the lifting strategy; analyzing the training data to generate the sway control method for each target motion state of the crane bridge and trolley; and adopting the corresponding sway control method during actual lifting based on the current travel state of the crane bridge and trolley. The present invention performs overall path planning and crane bridge and trolley motion state planning for the lifting operation to determine a lifting strategy consistent with the construction site environment.During the lifting process, electronic and manual sway damping are combined depending on the operator's operating habits and skills, which not only improves the lifting performance but also increases the operational safety of the bridge crane, so that the load only shakes slightly when the bridge crane starts, stops, accelerates or decelerates, which improves the safety of the lifting process.

The invention discloses a bridge crane anti-swing control method based on a neural network algorithm, and relates to the technical field of crane control, and the method comprises the following steps: collecting suspended load swing state variables of a bridge crane and establishing a dynamic model; the dynamic model is used for predicting the suspended load swing trend of the bridge crane, and a swing trend prediction result is obtained; feed-forward compensation control is carried out according to the swing trend prediction result, and a feed-forward control signal is obtained; performing real-time feedback correction on the movement of the bridge crane trolley according to the feedforward control signal to obtain a real-time correction control signal; and performing nonlinear compensation calculation according to the real-time correction control signal to obtain a final anti-swing control result. According to the invention, the method achieves the precise estimation of the future swing state, improves the prediction accuracy of the future swing state, achieves the advanced compensation, improves the response speed of a control system, enables a compensation strategy to adapt to different operation environments, and improves the control precision and robustness.

The embodiment of the invention provides a wafer box transmission device of a vertical furnace, the wafer box transmission device is close to the vertical furnace, receives a wafer box transmitted by a crown block and transmits the wafer box to a target position in the vertical furnace, the wafer box transmission device comprises a bearing platform, a telescopic arm and a wafer box detection mechanism, when the wafer box is placed on the bearing platform, the telescopic arm detects the wafer box on the bearing platform; after the wafer box detection mechanism detects that no wafer box is placed at the target position, the bearing table is controlled to contract to make up the working space of the telescopic arm, and the lifting mechanism drives the telescopic arm to ascend, so that a clamping mechanism of the telescopic arm clamps the wafer box and then lifts the wafer box from the bearing table, and the wafer box is conveyed into the vertical furnace in the stretching direction through stretching of the telescopic arm; and placing on a target position. Through the telescopic design of the telescopic arm, the occupied area can be reduced, the safety is improved through the sensor and the like, the device can be suitable for different types of wafer cassettes, the transmission efficiency is improved, and the adaptability is high.

The utility model relates to a semiconductor wafer box transfer device which has high precision, high stability and high automation level and is suitable for wafer box transfer in the semiconductor production process. The device comprises a connection table arranged in a bottom area, the connection table is provided with a power assembly and a groove transmission structure which are used for lifting and transmitting a wafer box, and the periphery of the connection table is provided with an anti-vibration device made of a flexible material. And the crown block is positioned at the upper part of the device and moves along the guide system track so as to ensure smooth transfer of the wafer box among different areas. A manipulator is arranged on one side of the connection table, the tail end of the manipulator is provided with a grabbing device of an open type U-shaped structure, and a positioning column is arranged to be matched with a positioning hole in the bottom of the wafer box, so that the positioning accuracy of the wafer box is guaranteed. An automatic induction device is installed above the grabbing device and cooperates with an inductor to monitor the position of the wafer box in real time. The power assembly adopts a belt transmission system to ensure stable transmission of the wafer box.

The invention discloses a crown block positioning control method and related equipment, and relates to the technical field of industrial automation control, and the method comprises the steps: obtaining multi-source sensing data of a target crown block; carrying out fusion processing on the ultra-wideband positioning signal, the encoder displacement increment and the inertial measurement unit data based on a robust Kalman filtering algorithm to obtain a first positioning result; performing point cloud registration processing on the laser radar scanning data to obtain a second positioning result; determining a pose offset compensation amount through a preset kinetic model; and controlling the target crown block according to the first positioning result, the second positioning result and the pose offset compensation amount. Through the multi-sensor fusion and dynamic compensation technology, high-precision and anti-interference crown block positioning and control suitable for complex working conditions can be achieved.

The invention relates to the technical field of crane control, in particular to a method and system for achieving active control over cargo swing of a bridge crane, and the method comprises the steps that the trolley speed, the trolley acceleration, the cart speed, the cart acceleration, the cargo mass, the trolley mass and the lifting rope length are input into a pre-established cargo swing dynamic model; the method comprises the following steps of: firstly, carrying out conversion to obtain a linearized model, then carrying out pull-type transformation on the linearized model to obtain a standard transfer function of goods in an X-axis direction, and then predicting the acceleration of a trolley at a next time node when a goods swing angle is within a swing threshold value by adopting an integrated function of a preset controller, a preset input shaper and the standard transfer function. And finally, a driving instruction for predicting acceleration motion is sent to the trolley. Compared with the prior art, the method can effectively restrain goods from swinging in the process that the trolley carries the goods to move.

The invention belongs to the technical field of industrial crane control, and provides a bridge crane motion path planning method and system, and the method comprises the steps: uniformly dividing the motion environment of a bridge crane into grid units, recognizing a dynamic obstacle, endowing each grid unit with a state value, carrying out the track prediction of the dynamic obstacle, and carrying out the prediction of the motion path of the bridge crane. The method comprises the following steps: generating a time grid state matrix, constructing a time sequence passing grid set sequence, exploring a shortest path by adopting an improved A * algorithm, exploring multiple feasible paths by adopting an RRT algorithm, marking change nodes, screening the multiple feasible paths based on the shortest path, marking an initial path, and sorting an initial path set and a path node sequence; and quantitatively calculating the path tortuosity of the initial path, screening based on the path tortuosity, marking an optimal path, analyzing the load swing of the load at the change node, calculating the swing envelope range of the load, marking a risk change node, and screening to obtain an optimal path.

A bridge crane comprises a guide rail, a trolley, a current collector, a sliding contact line, a lifting component and a cleaning component, the trolley is movably assembled on the guide rail, the sliding contact line is connected with the trolley through the current collector, the current collector is assembled on the sliding contact line in a sliding mode, and the lifting component is connected with the trolley through the lifting component. The lifting component and the cleaning component are assembled on the trolley, and the cleaning component is used for cleaning the sliding contact line. The bridge crane has the technical effects that stains and dust accumulated on the sliding contact line can be cleaned in time in the working process, accidents are avoided, and the production efficiency and convenience are improved.

The present invention belongs to the field of lifting equipment control technology, and specifically relates to a dynamic modeling method and control method for double-bridge lifting equipment. The dynamic equations of a five-degree-of-freedom double-bridge crane are constructed using the Lagrangian method, and the geometric constraint relationships between trolley I and trolley II in the direction parallel to the bridge and the vertical direction are constructed. The dynamic model of the double-bridge crane is constructed by combining the dynamic equations and the geometric constraint relationships, and the dynamic model is transformed into a general model. Based on the general model, a first error function is constructed based on the difference between the actual position and the expected position, and a virtual controller is constructed based on the first error function. A second error function is constructed based on the virtual controller, and an actual controller is constructed based on the first error function, the virtual controller, and the second error function. This technical solution models the system as a whole through the constraint relationship between the two trolleys, taking the mass of the hook into consideration during the modeling process, and solving the singularity problem.

A multi-claw game machine includes a housing defining a game space, a plurality of action units, and a control unit signally connected to the action units and configured to control at least one of the action units. The action units are disposed in the game space and are spaced apart from each other, so that the game space is divided into a plurality of sub-areas that respectively correspond to the action units. Each action unit includes a bridge crane module disposed at a top of a respective one of the sub-areas, a claw mechanism connected to the bridge crane module, and a driving module connected to the bridge crane module. Each action unit has a specific parameter having a value different from the value of the specific parameter of at least another one of action units. A method is also provided for controlling the multi-claw game machine.

The invention belongs to the technical field of intelligent garbage cranes, and particularly relates to an automatic control method of an intelligent garbage crane, which comprises the following specific steps of: positioning a crane cart moving along an X axis by using a laser sensor, positioning a crane trolley moving along a Y axis by using an absolute value encoder so as to sense the position of a crown block, and then positioning the crane trolley along the Y axis by using an absolute value encoder. The central control system is used for accurately controlling the movement of the cart and the trolley and the grab postures moving along the Z axis according to the position of the trolley; a laser holder sensor is arranged on a cart and is vertically aligned with a garbage bin under a crown block, so that the height of garbage below can be measured by utilizing a vertical laser surface diverged by a laser holder. The intelligent garbage crane is controlled through the control method, the problem that when an existing intelligent garbage crane runs, the overall logicality of the intelligent garbage crane is poor can be solved, then the running smoothness of the intelligent garbage crane can be improved, and therefore the running efficiency of the intelligent garbage crane can be improved.

The invention relates to the technical field of intelligent monitoring, in particular to a digital integrated bridge crane fault diagnosis system which comprises a stress fluctuation monitoring module, a local stress analysis module, an energy flow monitoring module, a fault propagation calculation module and an intelligent early warning module. According to the method, the change trend of the health state of the structure is identified through stress fluctuation data analysis in a continuous period, the real-time control capability of the safety of the bridge crane structure is enhanced, local gridding stress monitoring is implemented based on a high-risk area, the abnormal expansion trend is captured, the fault prediction accuracy is improved, and the fault prediction efficiency is improved. The method comprises the following steps of: determining a part with over-limit loss and an abnormal energy transmission path in a power transmission process, ensuring deep analysis of an equipment operation state, calculating a fault influence range in combination with an input power change rate, identifying continuity of a power loss path, analyzing a propagation trend of a fault, and optimizing fault traceability and diffusion prediction capability. And the comprehensiveness of the operation state evaluation of the bridge crane is improved.

The present application belongs to the field of wafer cassette transport equipment, and specifically relates to an overhead crane, an overhead crane transport system, and a control method thereof. The overhead crane includes a main body, a detection device, and a posture adjustment device. The main body is used to travel along a main track, pick up and place, and transport goods, including wafer cassettes. The detection device is provided on the main body and is used to detect environmental information. The posture adjustment device connects the main body and the detection device. The posture adjustment device can adjust the angle of the detection surface of the detection device relative to the main body by adjusting the posture of the detection device. During the operation, maintenance, and troubleshooting of the overhead crane, if the detection device on the overhead crane produces an angular or positional offset, the posture adjustment device can correct the posture of the detection device to ensure the normal operation of the overhead crane transport system.

Overhead crane (1) with a guide rail arrangement (3) with a guide rail (5) on which a crane trolley (7) can be moved by means of a running gear device (9), and with at least two parallel track support rails (13), wherein the guide rail (5) is fastened to running gears (19) guided in the track support rails (13) and can be moved on the track support rails (13) by means of the running gears (19), wherein each of the track support rails (13) is fixedly fastened to an environment by means of at least two spaced-apart suspension devices (15), and wherein a measuring device (17) for directly or indirectly detecting a force directed in the direction of gravity is arranged on at least two of the suspension devices (15) of each of the track support rails (13).

The invention discloses a stopping device and a lifter, the stopping device and a lifting track synchronously ascend and descend, and the stopping device comprises a shaft seat, a stopping rod and an elastic part. And the shaft seats are arranged above the lifting track at intervals. The stop lever comprises a top pressing part, a stop part and a rotating part connected between the top pressing part and the stop part, the top pressing part and the stop part are arranged up and down, an included angle with an opening facing the inner side of the lifting track is formed between the top pressing part and the stop part, the rotating part is pivotally connected with the shaft seat through a first shaft, and the stop lever can swing around the axis of the first shaft so as to be switched between a first position and a second position; at the first position, the included angle between the jacking part and the horizontal plane is an acute angle, and the stopping part inclines towards the inner side of the lifting track to stop the crown block; at the second position, the stopping part swings towards the outer side of the lifting track to release the crown block; the elastic part is used for limiting the stop lever at the first position when the jacking part is not jacked, and the elastic part elastically deforms and allows the stop lever to move to the second position when the jacking part is jacked.

The invention discloses a cable crane management and control method and system based on digital twinning, and relates to the technical field of bridge construction intelligent monitoring, and the method comprises the following steps: preprocessing different types of monitoring data to obtain different types of preprocessed monitoring data; constructing a twinborn model based on the on-site live-action data, and performing real-time rendering based on the preprocessed monitoring data to construct a real-time twinborn model; based on the real-time twinborn model, constructing an AR auxiliary hoisting schematic diagram; and planning an optimal path of the crown block based on the AR auxiliary hoisting schematic diagram. Through multi-source data acquisition, real-time analysis, safety early warning and visual display, comprehensive monitoring and risk pre-control of the operation state of the cable crane are realized.

A crane game machine includes a cabinet, an operation unit, and an operation interface. The operation unit includes a bridge crane mechanism, a gripper mechanism that is movably mounted to the bridge crane mechanism, and a crane motor that is connected to the gripper mechanism. The crane motor is operable for urging the gripper mechanism to undertake a lowering journey in which the gripper mechanism is moved downwardly, and a lifting journey in which the gripper mechanism is moved upwardly. At least one of the lowering journey and the lifting journey is divided into a plurality of subsections. A moving speed of the gripper mechanism in one of the plurality of subsections is different from the moving speed of the gripper mechanism in at least another one of the plurality of subsections. The operation interface is operable for urging the bridge crane mechanism to drive movement of the gripper mechanism.

The U-shaped beam stacking system comprises a waste material selecting part, a conveying and overturning part, a discharging trolley and a servo crane, U-shaped beams can be moved to the conveying and overturning part after being screened on the waste material selecting part, an overturning mechanism on the conveying and overturning part can drive the U-shaped beams to overturn, and the discharging trolley is used for discharging the U-shaped beams. The servo crane can grab and move the U-shaped beams on the conveying and overturning part to the discharging trolley, whether the U-shaped beams are overturned or not and staggered stacking or positive and negative stacking stacking of the U-shaped beams are achieved according to the stacking requirement, an active overturning arm of the overturning mechanism can replace a pneumatic plate overturning mechanism and double robots, the cost of the whole equipment is greatly reduced, and the working efficiency is improved. And in addition, the U-shaped beams can be stacked on the discharging trolley according to the stacking requirement, the labor intensity of workers is reduced, and the overall stacking operation efficiency is effectively improved.

The invention relates to a bridge crane game model-free optimal control method based on event triggering, and the method comprises the steps: collecting a state vector of a bridge crane in real time, and building a nonlinear multi-player system model of the bridge crane; estimating an unknown dynamic function and an input gain matrix on line in the input identifier neural network; according to an event triggering mechanism, whether triggering is conducted or not is judged based on the error between the current state vector and the state vector of the recently-triggered sampling; if so, triggering a dynamic updating instruction; under a non-zero sum game framework, obtaining an optimal value function gradient based on an estimation result and a current state vector through a self-adaptive evaluator network, and generating an event triggering optimal control law of each player based on a sampled state vector; and the event triggering optimal control law is processed by a zero-order retainer and then is output as a physical driving signal to control the operation of the bridge crane. Compared with the prior art, the method has the advantages of high applicability, high disturbance resistance, high accuracy and the like.

The invention provides a crown block roaming control method and device, a storage medium and electronic equipment, and belongs to the technical field of transportation control. The method comprises the following steps: acquiring a first number of idle crown blocks in an expansion area corresponding to each roaming area and position information of each idle crown block; determining at least one convergence center from the roaming area based on the first number and the position information; distributing a corresponding convergence center for each idle crown block according to the position; generating a first roaming path for each idle crown block to travel to the distributed convergence center based on the position information and the center position of the convergence center; controlling each idle crown block to converge at the corresponding convergence center according to the corresponding first roaming path to form a corresponding roaming fleet; and generating a second roaming path for the roaming fleet, and controlling the idle crown block in the roaming fleet to run in the corresponding roaming area according to the second roaming path. According to the invention, the computing resources of the scheduling system in the AHMS can be saved.

The invention belongs to the technical field of cobalt metal preparation, and relates to an electric cobalt automatic washing and plate shearing system. Comprising a mini stacking type AGV, a six-axis robot, an intelligent travelling crane, a gantry type truss robot, a washing system (including a pickling tank, a washing tank and a scalding tank), a plate shearing system (including a plate shearing machine and a clipping machine), a gripper, a customized material frame, a running track and a ground charging type charging station. Aiming at the problems of low washing and plate shearing carrying efficiency, high labor intensity and the like, an integrated automatic system is designed, automatic cobalt plate washing, unmanned carrying, automatic sorting, automatic plate shearing machine feeding and barreling can be achieved, and the labor cost and potential safety hazards are greatly reduced.

The invention belongs to the technical field of bridge cranes, and provides a bridge crane metal structure fatigue life evaluation method, which comprises the following steps: establishing a bridge crane simulation model through finite element software ANSYS according to a bridge crane structure, and respectively carrying out concentrated analysis on stress under a static working condition and a dynamic working condition to obtain the fatigue life of a bridge crane metal structure. The method comprises the following steps: determining a dangerous stress area, carrying out dominant analysis on stress components of the dangerous stress area under a static condition from a spatial distribution dimension of the stress components, and monitoring a uniaxial stress state of the dangerous stress area under the static condition. Deviation analysis is carried out through the multi-axis stress damage value of the dangerous stress area at the single-multi-axis change time point, the single-axis evaluation error is eliminated through multi-axis stress equivalent correction, and it is ensured that the fatigue life evaluation result is highly consistent with the actual stress damage rule of the structure.

The invention discloses a packaging unit front aluminum coil intelligent plane warehouse and an operation method thereof.The intelligent plane warehouse comprises a cache warehouse area composed of a plurality of plane saddles, the plane saddles are provided with sensor arrays for monitoring the storage position and number of coiled materials and the bearing condition of the plane saddles, and the warehouse inlet end and the warehouse outlet end of the cache warehouse area are provided with a designated position TOP1 and a designated position TOP2 correspondingly; an AGV ground automatic coiled material conveying trolley and a packaging unit feeding trolley are correspondingly arranged at the designated position TOP1 and the designated position TOP2, and an intelligent crown block is arranged above the buffer storage area; scratches caused by transferring the aluminum coil by a manual crown block are avoided; full automation of edge cutting discharging and packaging feeding of aluminum coils can be achieved, the labor intensity and the safety risk are reduced, and the production efficiency is improved. Production continuity between the edge cutting unit and the packaging unit is achieved, butt joint of production data is automatically completed, manual data input and proofreading time is saved, transportation time is shortened, and the automation level is improved.

The invention belongs to the technical field of intelligent logistics and automatic control, and particularly relates to a lithium electrochemical capacity grading OHT crown block scheduling system based on visual identification, which comprises an information acquisition module, a path planning module and a dynamic adjustment module, the information acquisition module is used for acquiring surface state data and spatial position data of the battery through the multi-mode sensor group and transmitting the data to the feature extraction unit for processing; wherein the multi-mode sensor group comprises a high-resolution industrial camera, an infrared thermal imager and an ultrasonic ranging sensor; and the path planning module is used for generating an initial path planning scheme according to the target battery position information output by the feature extraction unit and the current crown block running state information. Through the design of the conflict detection unit and the dynamic adjustment module, the path conflict rate in a multi-crown-block complex scene is remarkably reduced, and real-time environment changes such as sudden obstacles can be quickly adapted, so that the overall efficiency and reliability of crown block adjustment are improved.

The invention belongs to the technical field of crane path planning, and provides a bridge crane path planning method considering obstacle avoidance, which comprises the following steps of: extracting operation data of a bridge crane in a moving process from historical data, carrying out clustering analysis on the historical operation data according to similar working condition categories, and obtaining a clustering result; determining the maximum swing area range of each load with the similar working condition category as the maximum detection range on a preset path in the moving process of the bridge crane; according to the method, the detection range is dynamically adjusted according to different working conditions, redundancy calculation is reduced, a scheme with the minimum efficiency loss is preferentially selected when a bypassing path is generated, task delay caused by blind bypassing is reduced, when bypassing is not feasible, the optimal stop point is determined through compound navigation coherence evaluation, it is guaranteed that an original path can be rapidly returned subsequently, and the efficiency is improved. The obstacle avoidance requirement and the operation rhythm are considered, and various working conditions in a complex environment can be flexibly adapted.

The invention discloses a trolley for cleaning an OHT crown block track, and relates to the technical field of OHT crown blocks, the trolley comprises a shell and a crown block track, the crown block track is located right above the shell, the upper surface of the shell is fixedly connected with a mounting plate, and the upper surface of the mounting plate is fixedly provided with a driving mechanism; the device comprises a mounting plate, a driving mechanism is fixedly mounted on the upper surface of the mounting plate, the output end of the driving mechanism is slidably connected with a crown block track, a cleaning mechanism is fixedly mounted on the upper surface of the mounting plate and comprises a dust removal suction nozzle and a first sweeping mechanism, and the dust removal suction nozzle is located over the crown block track. Dust is sucked into the dust suction and collection device through the dust removal suction nozzle to be collected; the cleaning efficiency of the crown block track is improved, the potential safety hazard of falling injury of personnel is avoided, a padlock is not needed to stop production equipment in the cleaning process, the cleaning trolley is started in a production gap, and the production efficiency is improved.

A multi-claw game machine includes a housing defining a game space, a plurality of action units, and a control unit signally connected to the action units and configured to control at least one of the action units. The action units are disposed in the game space and are spaced apart from each other, so that the game space is divided into a plurality of sub-areas that respectively correspond to the action units. Each action unit includes a bridge crane module disposed at a top of a respective one of the sub-areas, a claw mechanism connected to the bridge crane module, and a driving module connected to the bridge crane module. Each action unit has a specific parameter having a value different from the value of the specific parameter of at least another one of action units. A method is also provided for controlling the multi-claw game machine.

The utility model discloses a novel bridge crane and relates to the technical field of cranes. The novel bridge crane comprises a first bridge side frame, a second bridge side frame and a hoisting assembly, the hoisting assembly comprises a base, hoisting moving wheels, a moving servo motor, two lifting rope winding drums, a transmission box, a hoisting motor, a hoisting frame, a rope winding drum and a hook, the two lifting rope winding drums are arranged side by side, and the hoisting motor is in transmission connection with the side ends of the lifting rope winding drums through the transmission box. The base moves along the guide rail through the lifting moving wheel, the moving servo motor is in transmission connection with the lifting moving wheel, the bottom end of the base is provided with the lifting frame, and the lifting frame adjusts and lifts the rope winding drum through a steel rope. The bridge crane disclosed by the utility model is large in lifting weight and simpler in structure; the lifting rope winding drums are independently controlled through the double lifting motors, so that lifting is effectively guaranteed; the relative position of the hoisting assembly is flexibly and finely adjusted by moving the servo motor, and the structure matching application effect is good.

The invention discloses a crown block safety monitoring system based on YOLO V5 and Wincc, belongs to the field of monitoring systems, and aims to solve the problems that a crown block monitoring system mainly depends on manual judgment and is easily influenced by experience and judgment of an operator, and the operation risk is increased. The system comprises a data acquisition module, an image vision module, a hoisting state judgment module and an abnormity alarm module, the data acquisition module is used for acquiring variable point locations of the crown block PLC in real time; the method comprises the following steps: reading a variable point location in a PLC (Programmable Logic Controller) through KepServerEX software; the image vision module is used for recording a steel ladle trunnion position working image in real time from the front angle through n high-definition network cameras mounted on the two sides of a crown block working area and transmitting the steel ladle trunnion position working image to the hoisting state judgment module; the hoisting state judgment module is used for receiving the steel ladle trunnion position working image transmitted from the image vision module; and performing visual image identification on the steel ladle trunnion position working image based on a YOLO V5 algorithm, and identifying whether a lifting lug of the steel ladle and a lifting hook of the crown block are in safe positions or not.

The invention discloses an intelligent truss transfer system and method for lead stack warehouse-in and warehouse-out, the system comprises a transfer RGV, a warehouse-in and warehouse-out conveying line and a warehouse-in and warehouse-out truss, and lead stack transfer is executed by taking the warehouse-in and warehouse-out truss as a core. A warehouse area is divided into two areas, a simultaneous warehouse-in, warehouse-out or mixed operation mode is supported, two warehouse-out conveying lines for alternate stock-up are matched, and the loading efficiency is greatly improved; the warehouse-in conveying line and the warehouse-out conveying line are arranged in a high-low crossed mode, space utilization is optimized, and path conflicts are avoided. During operation, the WCS dispatch equipment cooperates, the WMS manages data information, and full-process tracing is achieved. Compared with a traditional manual forklift and crown block hoisting mode, the system reduces personnel assistance, and the labor cost and the safety risk are reduced; through automatic and intelligent operation, the flexibility, the efficiency and the management level of lead stack warehouse-in and warehouse-out are remarkably improved, and an efficient, safe and intelligent solution is provided for enterprise warehouse transfer.