CN111453276B - Application method of shuttle vehicle in intensive document storage - Google Patents
Application method of shuttle vehicle in intensive document storage Download PDFInfo
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- CN111453276B CN111453276B CN202010294369.3A CN202010294369A CN111453276B CN 111453276 B CN111453276 B CN 111453276B CN 202010294369 A CN202010294369 A CN 202010294369A CN 111453276 B CN111453276 B CN 111453276B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention provides an application method of a shuttle vehicle in intensive literature storage, which comprises the following steps: monitoring and identifying storage tank information of the document storage tank at the storage port; configuring a shuttle vehicle for the document storage box according to the storage box information, and moving the document storage box to a preset area of a target shelf based on the shuttle vehicle; the method comprises the following steps that intelligent assistance is carried out on a shuttle car based on a cargo moving system, and a document storage box in a preset area is stored in a target cargo space; wherein, a plurality of target goods positions are arranged on the target goods shelf. Through adopting the combination of shuttle and goods moving system, deposit the target goods position with the document storage tank, saved storage space, improved storage efficiency.
Description
Technical Field
The invention relates to the technical field of warehouse logistics, in particular to an application method of a shuttle vehicle in document intensive storage.
Background
With the rapid development of electronic commerce and the increasing incentive of competition among electronic commerce enterprises, at present, due to the change of domestic market environment, the intensive storage warehouse has a better application prospect, and with the influence of factors such as the occupied storage area, the rent, the continuous rising of labor cost and the like, the intensive storage system, particularly the automatic intensive storage system taking a shuttle as a core, has huge market demand.
Since it is now less visible to document intensive storage, the present invention relates to methods of application for document intensive storage.
Disclosure of Invention
The invention provides an application method of a shuttle vehicle in document intensive storage, which is used for storing a document storage tank to a target goods position by adopting the combination of the shuttle vehicle and a goods moving system, thereby saving the storage space and improving the storage efficiency.
The invention provides an application method of a shuttle vehicle in intensive literature storage, which comprises the following steps:
step 1: monitoring and identifying storage tank information of the document storage tank at the storage port;
step 2: configuring a shuttle vehicle for the document storage tank according to the storage tank information, and moving the document storage tank to a preset area of a target shelf based on the shuttle vehicle;
and step 3: the shuttle car is intelligently assisted by a cargo moving system to store the document storage box in the preset area to a target cargo space;
wherein, be provided with a plurality of target goods position on the target goods shelves.
In a possible implementation manner, before monitoring and identifying the storage tank information of the document storage tank of the warehousing port, the method further comprises the following steps: and verifying the unique identification code of the storage tank information, wherein the verification step comprises the following steps:
step 11: monitoring the unique identification code on the document tank;
step 12: identifying the unique identification code obtained by monitoring;
step 13: acquiring the storage tank information according to the identification result;
step 14: the information of the storage tank is judged,
when the storage tank information is empty, performing first alarm warning;
when the storage tank information is not empty, judging whether the storage tank information is consistent with preset input information or not based on an identification database;
if the unique identification codes are consistent, reserving the unique identification codes;
otherwise, a second alarm warning is carried out, and meanwhile, the unique identification code is redistributed to the literature storage tank based on the corresponding input information.
In one possible implementation manner, before configuring the shuttle car for the document tank according to the tank information, the method further includes: constructing a configuration data set associated with the shuttle, the constructing comprising:
step 01: acquiring historical work information of the shuttle vehicle, and capturing voltage fluctuation information of the shuttle vehicle from the historical work information;
step 02: constructing a fluctuation model of the shuttle vehicle based on the voltage fluctuation information;
step 03: capturing a preset number of key points of the voltage fluctuation information, and simultaneously recording front edge information and rear edge information corresponding to each key point;
step 04: capturing historical monitoring information of the shuttle car based on the historical working information, and determining a transition event of each key point corresponding to the shuttle car according to the front edge information and the rear edge information;
step 05: and optimizing the fluctuation model based on the transition event to obtain a final model, and constructing a configuration data set according to the final models of all the shuttle vehicles.
In one possible implementation, the step of configuring the literature tank with a shuttle car according to the tank information comprises:
step 21: performing region division on the document dense storage system according to document classification attributes to obtain a plurality of document library regions, and performing cluster analysis on all final models in the configuration data set to obtain a plurality of cluster subsets;
step 22: establishing a mapping relation between the document library area and the clustering subset according to the library area attribute, and configuring the clustering subset to the document library area according to the mapping relation;
step 23: determining a classification area of the literature storage tank according to a literature intensive storage database, and simultaneously determining storage tank attributes of the storage tank information according to the storage tank information;
step 24: and determining a document library area according to the classification area, configuring an optimal model related to the storage tank attribute in the cluster subset corresponding to the document library area, and calling a corresponding shuttle according to the optimal model to realize the configuration of the shuttle on the document storage tank.
In one possible implementation, the cargo moving system includes: a plurality of cargo rails;
the goods slide rail is used for restraining the running path and the running direction of the shuttle car.
In one possible implementation manner, the cargo moving system further includes: a cloud server;
step 41: acquiring order information of a user for documents based on the cloud server, wherein the order information comprises: the name of the document purchased, the number of documents purchased, the time of receipt of the purchased document;
step 42: determining the document position of a document to be placed according to the document name, and establishing a first objective function constraint condition according to the equipment number and the sorting cost of the shuttle vehicle;
step 43: according to the receiving time of the purchased documents, determining the sorting time of the placed documents, and establishing a second objective function constraint condition;
step 44: according to the number of the purchased documents, determining the sorting efficiency of the documents to be ordered, and establishing a third objective function constraint condition;
step 45: acquiring a performance index of the shuttle vehicle, and establishing a fourth objective function constraint condition according to the performance index;
step 46: acquiring an optimal value according to the established first objective function constraint condition, the established second objective function constraint condition, the established third objective function constraint condition and the established fourth objective function constraint condition;
step 47: and determining an optimal shuttle vehicle according to the optimal value, and sending a sorting instruction to the optimal shuttle vehicle to realize sorting of the documents to be placed.
In a possible implementation manner, in the process of collecting the order information of the document by the user based on the cloud server, the method further includes:
step 411: acquiring all ordering information within preset time, and synchronizing the ordering information to a combined list;
step 412: comparing the relevance between each current order placing information and the rest order placing information in the combined list, and synchronously classifying the order placing information according to a relevance result;
step 413: and comparing the network throughput of the current ordering information and the network throughput of the adjacent ordering information received by the cloud server in the combination list, and optimizing the network throughput by adopting an adjacent point auxiliary algorithm when the network throughput is less than a preset throughput.
In one possible implementation manner, the intelligent assistance of the shuttle vehicle based on the cargo moving system to deposit the document storage tank in the preset area to the target cargo space further comprises: controlling the shuttle car to stably move on the goods shelf slide rail, wherein the control steps comprise:
step 51: planning a moving path of the document storage box from a preset area to a target cargo space based on path constraint conditions;
step 52: acquiring a three-dimensional coordinate graph of the moving path, acquiring turning areas in the three-dimensional coordinate graph, calibrating m point information of each turning area, and determining turning characteristics of each turning area according to the point information;
selecting a first control point from m point information of each turning area;
selecting a second control point from the first control points, and arranging an inflection point inductor at the second control point;
S＝S1+S2；
wherein S1 denotes the current information point aiAnd the next information point Ai+1An approximation value therebetween; s2 denotes the current information point aiAnd the last information point Ai-1An approximation value therebetween; thetaiRepresenting the slide rail-based tangent value of the current information point; thetai+1Representing the slide rail-based tangent value of the next information point; thetai-1Representing the slide rail-based tangent value of the last information point; χ represents an approximated microscale value, and χ approaches 0; and A isiIs a three-dimensional coordinate point, i ═ 1,2,. m;
acquiring information points of an approximation value S outside a standard approximation range, using the information points as first control points, sequencing the approximation value S, and acquiring information points corresponding to a maximum approximation value as second control points A;
step 53: determining the curvature radius rho of the second control point A, simultaneously determining a standard speed v passing through the second control point according to the curvature radius rho and the inflection point characteristic B, and determining a speed error range C when the shuttle car runs based on the standard speed v based on a final model of the shuttle car;
v′＝F(D)；
wherein, F (D) represents the speed error function corresponding to the final model; v' represents a velocity error amount;
indicating a first circumferential perimeter within a first error zone;
indicating a second circumferential perimeter within a second error region;
an included angle representing a first circumferential perimeter;
an included angle representing a second circumferential perimeter; w1 represents the energy consumed by the shuttle vehicle traversing the second control point; w2 represents additional energy of the shuttle vehicle traversing the second control point; p represents the standard power of the shuttle;
step 54: when the shuttle car passes through the inflection point, controlling the inflection point inductor to induce the form speed of the shuttle car, judging whether the induced speed is in a speed error range corresponding to a standard speed, and if so, not executing any operation;
if the speed is smaller than the minimum lower limit of the speed error range, triggering the speed gear of the shuttle car to be adjusted to a large degree;
and if the maximum upper limit of the speed error range is larger than the maximum upper limit of the speed error range, triggering the speed gear of the shuttle car to be adjusted to a small degree.
In a possible implementation manner, when the shuttle car runs in a turning area on the goods shelf slide rail, the moving speed of the shuttle car is adjusted by controlling a speed gear, so that the shuttle car is ensured to run stably in the turning area;
when the shuttle car runs in a straight line area on the goods shelf slide rail, the shuttle car is controlled to stably run according to a preset speed corresponding to the straight line area.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a method for applying a shuttle to a document dense store in an embodiment of the present invention;
FIG. 2 is a graph of voltage fluctuation information in an embodiment of the present invention;
fig. 3 is a flowchart for implementing the sorting of documents according to the embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The dense storage system is classified according to the degree of automation, and can be divided into three main categories: a full-automatic dense storage system, a semi-automatic dense storage system and a common dense storage;
according to the functional categories, the method comprises the following steps: the system comprises a primary and secondary shuttle vehicle automatic dense system, a four-way shuttle vehicle automatic dense system, a multilayer shuttle vehicle dense storage system, an electric movable goods shelf system, a shuttle goods shelf system, a press-in goods shelf system, a gravity type goods shelf system, a drive-in goods shelf system, a fluent goods shelf system, a hand-operated movable dense shelf, a cantilever type goods shelf and the like.
The invention provides an application method of a shuttle vehicle in intensive literature storage, as shown in figure 1, comprising the following steps:
step 1: monitoring and identifying storage tank information of the document storage tank at the storage port;
step 2: configuring a shuttle vehicle for the document storage tank according to the storage tank information, and moving the document storage tank to a preset area of a target shelf based on the shuttle vehicle;
and step 3: the shuttle car is intelligently assisted by a cargo moving system to store the document storage box in the preset area to a target cargo space;
wherein, be provided with a plurality of target goods position on the target goods shelves.
Preferably, the cargo moving system includes: a plurality of cargo rails;
the goods slide rail is used for restraining the running path and the running direction of the shuttle car.
In this embodiment, the tank information includes: the shuttle car is configured for the document storage tank, and the shuttle car is used for quickly and safely placing the document storage tank at a proper position, wherein the information includes the name of the document, the number of the document, the size of the storage tank and the like;
in this embodiment, the target shelf includes a plurality of shelf layers, and is provided with a plurality of target goods spaces on each shelf layer, and the shuttle is intelligently assisted through obtaining the mobile system, such as lifting or lowering the current height position of the shuttle.
The beneficial effects of the above technical scheme are: the beneficial effects of the above technical scheme are: through adopting the combination of shuttle and goods moving system, deposit the target goods position with the document storage tank, saved storage space, improved storage efficiency.
The invention provides an application method of a shuttle vehicle in document intensive storage, which comprises the following steps of before monitoring and identifying storage tank information of a document storage tank at a storage port: and verifying the unique identification code of the storage tank information, wherein the verification step comprises the following steps:
step 11: monitoring the unique identification code on the document tank;
step 12: identifying the unique identification code obtained by monitoring;
step 13: acquiring the storage tank information according to the identification result;
step 14: the information of the storage tank is judged,
when the storage tank information is empty, performing first alarm warning;
when the storage tank information is not empty, judging whether the storage tank information is consistent with preset input information or not based on an identification database;
if the unique identification codes are consistent, reserving the unique identification codes;
otherwise, a second alarm warning is carried out, and meanwhile, the unique identification code is redistributed to the literature storage tank based on the corresponding input information.
In this embodiment, the unique identification code includes: any one of two-dimensional code, bar code and the like can represent the identity information of the storage box in the document, and the identification result comprises: document type, document quantity, document name, tank size, etc.
In this embodiment, the first alarm warning may be warning information related to that the current unique identification code information is null, and the second alarm warning may be warning information that the current unique identification code information is not matched, so that the storage tank is ensured to have a unique and correct identity by reassigning the unique identification code.
This embodiment is implemented before step 1, in order to ensure that each storage tank has its unique identification, and avoid misplacing, which would cause inconvenience for subsequent sorting operations.
The beneficial effects of the above technical scheme are: before the storage tank configuration shuttle car, right the only identification code of storage tank is verified, can be effectual the uniqueness of guaranteeing the storage tank, the follow-up storage of being convenient for, letter sorting etc. because the storage tank has the uniqueness, through discernment storage tank information, be convenient for effectively manage this storage tank, the shuttle car of being convenient for carries out follow-up operation to its storage tank.
The invention provides an application method of a shuttle car in document intensive storage, wherein before configuring the shuttle car for the document storage tank according to the storage tank information, the method further comprises the following steps: constructing a configuration data set associated with the shuttle, the constructing comprising:
step 01: acquiring historical work information of the shuttle vehicle, and capturing voltage fluctuation information of the shuttle vehicle from the historical work information;
step 02: constructing a fluctuation model of the shuttle vehicle based on the voltage fluctuation information;
step 03: capturing a preset number of key points of the voltage fluctuation information, and simultaneously recording front edge information and rear edge information corresponding to each key point;
step 04: capturing historical monitoring information of the shuttle car based on the historical working information, and determining a transition event of each key point corresponding to the shuttle car according to the front edge information and the rear edge information;
step 05: and optimizing the fluctuation model based on the transition event to obtain a final model, and constructing a configuration data set according to the final models of all the shuttle vehicles.
In this embodiment, as shown in fig. 2, a is a key point, a left partial area a1 corresponding to the key point a is front edge information (instantaneous voltage), a right partial area a2 corresponding to the key point a is rear edge information (instantaneous voltage), an instantaneous voltage is generated, which may be caused by the shuttle vehicle accelerating or decelerating instantaneously, and a corresponding instantaneous event may be an acceleration event or a deceleration event, etc., and a capture key point is obtained to obtain the key information point of the shuttle vehicle, to determine the reliability and the specificity of the obtained parameter.
The machine performance of the instantaneous acceleration or deceleration of the shuttle is determined by means of an acceleration event or a deceleration event, and the wave model can be optimized according to the machine performance, corresponding to a correction process, and a final model is obtained, all final models obtained being built into the configuration data set.
The beneficial effects of the above technical scheme are: by capturing voltage fluctuation information, a fluctuation model is convenient to construct, by capturing key points and recording front and rear edge information, the fluctuation model is convenient to optimize, the precision of the final model is improved, and convenience is brought to subsequent configuration of the shuttle car.
The invention provides an application method of a shuttle car in document dense storage, and the step of configuring the shuttle car for the document storage tank according to the storage tank information comprises the following steps:
step 21: performing region division on the document dense storage system according to document classification attributes to obtain a plurality of document library regions, and performing cluster analysis on all final models in the configuration data set to obtain a plurality of cluster subsets;
step 22: establishing a mapping relation between the document library area and the clustering subset according to the library area attribute, and configuring the clustering subset to the document library area according to the mapping relation;
step 23: determining a classification area of the literature storage tank according to a literature intensive storage database, and simultaneously determining storage tank attributes of the storage tank information according to the storage tank information;
step 24: and determining a document library area according to the classification area, configuring an optimal model related to the storage tank attribute in the cluster subset corresponding to the document library area, and calling a corresponding shuttle according to the optimal model to realize the configuration of the shuttle on the document storage tank.
In this embodiment, the shuttle is optimally configured to place the totes in order in the cargo space.
In this embodiment, each storage system is similar to a storage warehouse, the storage warehouses are divided into regions, the purpose of performing fine management on the warehouses is to perform cluster analysis on final models, the purpose of performing region classification on shuttle cars in the same region is to perform region classification on the shuttle cars in the same region, and the corresponding shuttle cars are different due to the fact that the widths of sliding rails corresponding to shelves in the same region are different or the sizes of storage tanks in the same region are different, at this time, the shuttle cars are classified according to functional models and are further refined, and then a cluster subset is obtained;
in this embodiment, the library area attribute is determined according to documents that can be placed in each area after the area division, such as: information literature repository areas, physical literature repository areas, and the like;
in this embodiment, the classification region of the document tote is determined from the document dense storage database to determine in which bin region the document tote should be placed, and the tote attributes are, for example: size of 80 x 100cm specification, convenient to determine the reservoir area.
In this embodiment, the finally obtained optimal model is the optimal shuttle vehicle configured correspondingly, thereby realizing storage configuration.
The beneficial effects of the above technical scheme are: by carrying out region division on the storage system and carrying out cluster analysis on the model, the mapping relation between the storage system and the model is convenient to construct, and by determining the classification region, the optimal shuttle vehicle is convenient to configure for the storage tank.
The invention provides an application method of a shuttle vehicle in intensive literature storage, and the cargo moving system further comprises the following steps: the cloud server, as shown in figure 3,
step 41: acquiring order information of a user for documents based on the cloud server, wherein the order information comprises: the name of the document purchased, the number of documents purchased, the time of receipt of the purchased document;
step 42: determining the document position of a document to be placed according to the document name, and establishing a first objective function constraint condition according to the equipment number and the sorting cost of the shuttle vehicle;
step 43: according to the receiving time of the purchased documents, determining the sorting time of the placed documents, and establishing a second objective function constraint condition;
step 44: according to the number of the purchased documents, determining the sorting efficiency of the documents to be ordered, and establishing a third objective function constraint condition;
step 45: acquiring a performance index of the shuttle vehicle, and establishing a fourth objective function constraint condition according to the performance index;
step 46: acquiring an optimal value according to the established first objective function constraint condition, the established second objective function constraint condition, the established third objective function constraint condition and the established fourth objective function constraint condition;
step 47: and determining an optimal shuttle vehicle according to the optimal value, and sending a sorting instruction to the optimal shuttle vehicle to realize sorting of the documents to be placed.
In this embodiment, the optimal shuttle is determined in order to transport documents from the rack, sort the documents, and then output the logistics.
In the embodiment, a first objective function constraint condition among the document name, the equipment number and the sorting cost based on the ordering information is established firstly, a second objective function constraint condition among the delivery time and the sorting time based on the ordering information is established secondly, a third objective function constraint condition among the document number and the sorting efficiency based on the ordering information is established again, a fourth objective function constraint condition based on the performance index of the shuttle car based on the ordering information is established finally, and the data value is improved conveniently and the optimization of obtaining the optimal shuttle car is improved by establishing four objective function constraint conditions.
Wherein, the optimal quality is obtained by calculation according to four target function constraint conditions.
The beneficial effects of the above technical scheme are: in the ordering process of a user, the optimal shuttle vehicle is configured by establishing four target function constraint conditions, so that effective sorting and output of documents are realized.
The invention provides an application method of a shuttle car in document intensive storage, which is based on the process that a cloud server collects order information of a user to documents, and further comprises the following steps:
step 411: acquiring all ordering information within preset time, and synchronizing the ordering information to a combined list;
step 412: comparing the relevance between each current order placing information and the rest order placing information in the combined list, and synchronously classifying the order placing information according to a relevance result;
step 413: and comparing the network throughput of the current ordering information and the network throughput of the adjacent ordering information received by the cloud server in the combination list, and optimizing the network throughput by adopting an adjacent point auxiliary algorithm when the network throughput is less than a preset throughput. s
In this embodiment, the preset time may be set according to different consumption festivals, such as: the preset time set for twenty-one may be 10 minutes, the preset time set for a non-holiday may be 2 hours, etc.
In this embodiment, the order information is classified synchronously, so as to improve the sorting efficiency and avoid repeatedly acquiring documents in a certain area during the sorting process, for example: within 10 minutes, there are 10 orders of information, and the 10 orders of information are synchronously classified, such as: 1. 2, 7 are information literature classifications, and the rest are physical literature classifications, so that the repeated acquisition times of the shuttle car can be reduced, the working efficiency of the shuttle car can be improved, and the service life of the shuttle car can be prolonged.
In this embodiment, the combined list is a list that synchronously counts all ordering information in 10 minutes, for example;
in this embodiment, for example, the network throughput between the 5 th order and the adjacent 4 th and 6 th orders is captured and compared with the preset throughput, for example, when the network throughput of the 5 th order is less than the preset throughput and the network throughput of the 4 th order is greater than the preset throughput, the neighbor assistance algorithm may be used, that is, the network throughput corresponding to the 4 th order is used to optimize the network throughput corresponding to the 5 th order.
The beneficial effects of the above technical scheme are: through in the ordering process, the throughput is optimized, the ordering reliability can be effectively guaranteed, ordering failure is avoided, or ordering delay is avoided, and the sorting efficiency of the subsequent shuttle cars is guaranteed.
Because the structure of putting up of goods shelves among the storage system is comparatively complicated, consequently, it is especially important to control shuttle stable removal on goods shelves slide rail, because there is a plurality of flex point in the slide rail, and when the shuttle moved in flex point department, the more common condition when appearing moving the obstacle, and control the speed through the flex point is the basis of guaranteeing the shuttle steady operation.
The invention provides an application method of a shuttle car in intensive literature storage, which is based on the intelligent assistance of a cargo moving system on the shuttle car to store a literature storage tank in a preset area to a target cargo space, and further comprises the following steps: controlling the shuttle car to stably move on the goods shelf slide rail, wherein the control steps comprise:
step 51: planning a moving path of the document storage box from a preset area to a target cargo space based on path constraint conditions;
step 52: acquiring a three-dimensional coordinate graph of the moving path, acquiring turning areas in the three-dimensional coordinate graph, calibrating m point information of each turning area, and determining turning characteristics of each turning area according to the point information;
selecting a first control point from m point information of each turning area;
selecting a second control point from the first control points, and arranging an inflection point inductor at the second control point;
S＝S1+S2；
wherein S1 denotes the current information point aiAnd the next information point Ai+1An approximation value therebetween; s2 denotes the current information point aiAnd the last information point Ai-1An approximation value therebetween; thetaiRepresenting the slide rail-based tangent value of the current information point; thetai+1Representing the slide rail-based tangent value of the next information point; thetai-1Representing the slide rail-based tangent value of the last information point; χ represents an approximated microscale value, and χ approaches 0; and A isiIs a three-dimensional coordinate point, i ═ 1,2,. m;
acquiring information points of an approximation value S outside a standard approximation range, using the information points as first control points, sequencing the approximation value S, and acquiring information points corresponding to a maximum approximation value as second control points A;
step 53: determining the curvature radius rho of the second control point A, simultaneously determining a standard speed v passing through the second control point according to the curvature radius rho and the inflection point characteristic B, and determining a speed error range C when the shuttle car runs based on the standard speed v based on a final model of the shuttle car;
v′＝F(D)；
wherein, F (D) represents the speed error function corresponding to the final model; v' represents a velocity error amount;
indicating a first circumferential perimeter within a first error zone;
indicating a second circumferential perimeter within a second error region;
an included angle representing a first circumferential perimeter;
an included angle representing a second circumferential perimeter; w1 represents the energy consumed by the shuttle vehicle traversing the second control point; w2 represents additional energy of the shuttle vehicle traversing the second control point; p represents the standard power of the shuttle;
step 54: when the shuttle car passes through the inflection point, controlling the inflection point inductor to induce the form speed of the shuttle car, judging whether the induced speed is in a speed error range corresponding to a standard speed, and if so, not executing any operation;
if the speed is smaller than the minimum lower limit of the speed error range, triggering the speed gear of the shuttle car to be adjusted to a large degree;
and if the maximum upper limit of the speed error range is larger than the maximum upper limit of the speed error range, triggering the speed gear of the shuttle car to be adjusted to a small degree.
Preferably, when the shuttle car runs in a turning area on the goods shelf slide rail, the moving speed of the shuttle car is adjusted by controlling a speed gear, so that the shuttle car is ensured to run stably in the turning area;
when the shuttle car runs in a straight line area on the goods shelf slide rail, the shuttle car is controlled to stably run according to a preset speed corresponding to the straight line area.
The beneficial effects of the above technical scheme are: the method comprises the steps of determining a moving path, constructing a three-dimensional coordinate graph of the moving path, calibrating m-point information of the turning region by obtaining the turning region in the three-dimensional coordinate graph, further selecting twice through an approximation value to obtain a second control point, determining a curvature radius rho through the second control point, determining a standard speed v according to the curvature radius rho and a turning point characteristic B, determining a speed error range C when the shuttle vehicle runs based on the standard speed v through a final model of the shuttle vehicle, improving the accuracy of determining the speed range of the turning region, and inducing the actual speed of the shuttle vehicle through an arranged inductor, so that the intelligent adjustment of the actual speed of the shuttle vehicle is facilitated according to the speed range, and the running stability of the shuttle vehicle in the turning region is ensured.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. The application method of the shuttle car in the intensive literature storage is characterized by comprising the following steps:
step 1: monitoring and identifying storage tank information of the document storage tank at the storage port;
step 2: configuring a shuttle vehicle for the document storage tank according to the storage tank information, and moving the document storage tank to a preset area of a target shelf based on the shuttle vehicle;
and step 3: the shuttle car is intelligently assisted by a cargo moving system to store the document storage box in the preset area to a target cargo space;
wherein, a plurality of target goods positions are arranged on the target goods shelf;
before configuring the shuttle car for the document storage tank according to the storage tank information, the method further comprises the following steps: constructing a configuration data set associated with the shuttle, the constructing comprising:
step 01: acquiring historical work information of the shuttle vehicle, and capturing voltage fluctuation information of the shuttle vehicle from the historical work information;
step 02: constructing a fluctuation model of the shuttle vehicle based on the voltage fluctuation information;
step 03: capturing a preset number of key points of the voltage fluctuation information, and simultaneously recording front edge information and rear edge information corresponding to each key point;
step 04: capturing historical monitoring information of the shuttle car based on the historical working information, and determining a transition event of each key point corresponding to the shuttle car according to the front edge information and the rear edge information;
step 05: and optimizing the fluctuation model based on the transition event to obtain a final model, and constructing a configuration data set according to the final models of all the shuttle vehicles.
2. The method of claim 1, wherein prior to monitoring and identifying bin information for the storage bin at the warehousing port, further comprising: and verifying the unique identification code of the storage tank information, wherein the verification step comprises the following steps:
step 11: monitoring the unique identification code on the document tank;
step 12: identifying the unique identification code obtained by monitoring;
step 13: acquiring the storage tank information according to the identification result;
step 14: the information of the storage tank is judged,
when the storage tank information is empty, performing first alarm warning;
when the storage tank information is not empty, judging whether the storage tank information is consistent with preset input information or not based on an identification database;
if the unique identification codes are consistent, reserving the unique identification codes;
otherwise, a second alarm warning is carried out, and meanwhile, the unique identification code is redistributed to the literature storage tank based on the corresponding input information.
3. The method of use of claim 1, wherein the step of configuring the literature tank with a shuttle car based on the tank information comprises:
step 21: performing region division on the document dense storage system according to document classification attributes to obtain a plurality of document library regions, and performing cluster analysis on all final models in the configuration data set to obtain a plurality of cluster subsets;
step 22: establishing a mapping relation between the document library area and the clustering subset according to the library area attribute, and configuring the clustering subset to the document library area according to the mapping relation;
step 23: determining a classification area of the literature storage tank according to a literature intensive storage database, and simultaneously determining storage tank attributes of the storage tank information according to the storage tank information;
step 24: and determining a document library area according to the classification area, configuring an optimal model related to the storage tank attribute in the cluster subset corresponding to the document library area, and calling a corresponding shuttle according to the optimal model to realize the configuration of the shuttle on the document storage tank.
4. The method of application of claim 1, wherein the cargo moving system comprises: a plurality of cargo rails;
the goods slide rail is used for restraining the running path and the running direction of the shuttle car.
5. The method of application of claim 1, wherein the cargo moving system further comprises: a cloud server;
step 41: acquiring order information of a user for documents based on the cloud server, wherein the order information comprises: the name of the document purchased, the number of documents purchased, the time of receipt of the purchased document;
step 42: determining the document position of a document to be placed according to the document name, and establishing a first objective function constraint condition according to the equipment number and the sorting cost of the shuttle vehicle;
step 43: according to the receiving time of the purchased documents, determining the sorting time of the placed documents, and establishing a second objective function constraint condition;
step 44: according to the number of the purchased documents, determining the sorting efficiency of the documents to be ordered, and establishing a third objective function constraint condition;
step 45: acquiring a performance index of the shuttle vehicle, and establishing a fourth objective function constraint condition according to the performance index;
step 46: acquiring an optimal value according to the established first objective function constraint condition, the established second objective function constraint condition, the established third objective function constraint condition and the established fourth objective function constraint condition;
step 47: and determining an optimal shuttle vehicle according to the optimal value, and sending a sorting instruction to the optimal shuttle vehicle to realize sorting of the documents to be placed.
6. The application method of claim 5, wherein in the process of collecting the order information of the document by the user based on the cloud server, the method further comprises:
step 411: acquiring all ordering information within preset time, and synchronizing the ordering information to a combined list;
step 412: comparing the relevance between each current order placing information and the rest order placing information in the combined list, and synchronously classifying the order placing information according to a relevance result;
step 413: and comparing the network throughput of the current ordering information and the network throughput of the adjacent ordering information received by the cloud server in the combination list, and optimizing the network throughput by adopting an adjacent point auxiliary algorithm when the network throughput is less than a preset throughput.
7. The method of claim 1, wherein the intelligently assisting the shuttle car based on the cargo moving system to deposit the literature tank in the predetermined area to the target cargo space further comprises: controlling the shuttle car to stably move on the goods shelf slide rail, wherein the control steps comprise:
step 51: planning a moving path of the document storage box from a preset area to a target cargo space based on path constraint conditions;
step 52: acquiring a three-dimensional coordinate graph of the moving path, acquiring turning areas in the three-dimensional coordinate graph, calibrating m point information of each turning area, and determining turning characteristics of each turning area according to the point information;
selecting a first control point from m point information of each turning area;
selecting a second control point from the first control points, and arranging an inflection point inductor at the second control point;
S＝S1+S2；
wherein S1 denotes the current information point aiAnd the next information point Ai+1An approximation value therebetween; s2 denotes the current information point aiAnd the last information point Ai-1An approximation value therebetween; thetaiRepresenting the slide rail-based tangent value of the current information point; thetai+1Representing the slide rail-based tangent value of the next information point; thetai-1Representing the slide rail-based tangent value of the last information point; χ represents an approximated microscale value, and χ approaches 0; and A isiIs a three-dimensional coordinate point, i ═ 1,2,. m;
acquiring information points of an approximation value S outside a standard approximation range, using the information points as first control points, sequencing the approximation value S, and acquiring information points corresponding to a maximum approximation value as second control points A;
step 53: determining the curvature radius rho of the second control point A, simultaneously determining a standard speed v passing through the second control point according to the curvature radius rho and the inflection point characteristic B, and determining a speed error range C when the shuttle car runs based on the standard speed v based on a final model of the shuttle car;
v′＝F(D)；
wherein, F (D) represents the speed error function corresponding to the final model;v' represents a velocity error amount;
indicating a first circumferential perimeter within a first error zone;
indicating a second circumferential perimeter within a second error region;
an included angle representing a first circumferential perimeter;
an included angle representing a second circumferential perimeter; w1 represents the energy consumed by the shuttle vehicle traversing the second control point; w2 represents additional energy of the shuttle vehicle traversing the second control point; p represents the standard power of the shuttle;
step 54: when the shuttle car passes through the inflection point, controlling the inflection point inductor to induce the form speed of the shuttle car, judging whether the induced speed is in a speed error range corresponding to a standard speed, and if so, not executing any operation;
if the speed is smaller than the minimum lower limit of the speed error range, triggering the speed gear of the shuttle car to be adjusted to a large degree;
and if the maximum upper limit of the speed error range is larger than the maximum upper limit of the speed error range, triggering the speed gear of the shuttle car to be adjusted to a small degree.
8. Application method according to claim 7,
when the shuttle car runs in a turning area on the goods shelf slide rail, the moving speed of the shuttle car is adjusted by controlling a speed gear, so that stable running in the turning area is ensured;
when the shuttle car runs in a straight line area on the goods shelf slide rail, the shuttle car is controlled to stably run according to a preset speed corresponding to the straight line area.
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