CN112132511B - Gypsum board intelligent storage automatic control system - Google Patents
Gypsum board intelligent storage automatic control system Download PDFInfo
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- CN112132511B CN112132511B CN202010972796.2A CN202010972796A CN112132511B CN 112132511 B CN112132511 B CN 112132511B CN 202010972796 A CN202010972796 A CN 202010972796A CN 112132511 B CN112132511 B CN 112132511B
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Abstract
The embodiment of the invention discloses an intelligent storage automatic control system for gypsum boards, which comprises a storage warehouse partition unit, a stock area partition unit, a route layout unit, a laser navigation forklift, a laser alignment unit, a vision acquisition system and a control system, wherein the storage warehouse partition unit is used for dividing the whole storage warehouse into a plurality of stock areas for storing gypsum boards with different specifications; and determining the stacking times of the laser navigation forklift at each stocking point in the carrying process for the second time so as to solve the problem of wrong statistical results of the number of the stored gypsum boards.
Description
Technical Field
The embodiment of the invention relates to the technical field of gypsum board warehousing, in particular to an intelligent gypsum board warehousing automatic control system.
Background
In the existing warehouse field, an intelligent gypsum board stereoscopic warehouse is established, so that gypsum board products with bar codes can be automatically stored in the warehouse by using an intelligent AGV fork truck; simultaneously, sales data are transmitted into the warehouse management system, the intelligent forklift receives the data, and the gypsum board is automatically transported to a delivery place from the warehouse. The intelligent and unmanned management of the gypsum board warehouse is realized.
However, the existing intelligent gypsum board warehousing mode only utilizes an intelligent AGV forklift to realize intelligent transportation, and can only realize transportation operation from a gypsum board packaging position, a warehouse and a delivery place at present, but lacks a double correction function for gypsum board warehousing metering in a stacking process, and when the laser navigation forklift is in disorder in counting due to no-load, the problem of wrong counting of the number of stacked layers of a certain delivery point and wrong counting result of the number of stored gypsum boards is caused.
Disclosure of Invention
Therefore, the embodiment of the invention provides an automatic control system for intelligent storage of gypsum boards, which determines the stacking times of a laser navigation forklift at each goods placing point for the second time in the carrying process so as to solve the problem that the statistical result of the stored gypsum boards is wrong due to disordered counting caused by no-load of the laser navigation forklift.
In order to achieve the above object, an embodiment of the present invention provides the following: an automatic control system for intelligent storage of gypsum boards comprises:
the warehouse partitioning unit is used for partitioning the whole warehouse into a plurality of warehouse areas for storing gypsum boards with different specifications;
the stock area dividing unit is used for uniformly dividing each stock area into a plurality of stock areas which are uniformly distributed;
a route layout unit for setting a main conveying route in the stock area and setting a plurality of sub-conveying routes in each stock lot;
the laser navigation forklift is used for transporting the gypsum boards from a production end to the corresponding inventory area;
the laser alignment unit is arranged on the front side of the laser navigation forklift and used for calculating the distance between the laser navigation forklift and two side edges of a front barrier;
a vision acquisition system arranged on the front surface of the laser navigation forklift and used for acquiring each station
And the control system is used for correcting the movement of the laser navigation forklift and the stacking and chopping times of the laser navigation forklift at each goods placing point of the sub-conveying route.
As a preferred scheme of the present invention, the distance between the two laser alignment units is equal to the stacking length of the gypsum board, and the working process of the laser alignment units is as follows:
setting the safety range of the laser alignment unit and the lowest gypsum board;
the laser navigation forklift adjusts the position according to the output data of the laser alignment unit;
the laser navigation forklift is just in a safe range, and a movable fork plate of the laser navigation forklift and the laser alignment unit are lifted synchronously;
the data of the laser alignment unit changes, and the laser navigation forklift stacks and chops the carried gypsum board above the lower gypsum board.
As a preferred scheme of the present invention, the specific working steps of adjusting the position of the laser navigation forklift using the laser alignment unit and the vision acquisition system are as follows:
the visual acquisition system acquires the picture of the gypsum board at the lowest layer of each goods placing point in real time and acquires the edges at two sides of the gypsum board;
the control system creates a vertical relationship between a horizontal line and a line on which a measurement point of the laser alignment unit is located;
and the control system calculates the distance between the on-line measuring point of the laser alignment unit and the edges at two sides of the gypsum plate frame in real time, and adjusts the moving position of the laser navigation forklift.
As a preferable aspect of the present invention, the laser alignment unit includes a transmission module for transmitting a light signal to a surface of the gypsum board, a reception module for receiving the light signal reflected from the surface of the gypsum board, and a photoelectric conversion module for converting the light signal of the reception module into an electrical signal,
as a preferred aspect of the present invention, the step of calculating the stacking and chopping height of the plasterboard at each putting point by the control system according to the output data of the laser alignment unit specifically comprises:
the control system receives the data of the laser alignment unit in real time and simultaneously times the uniform speed lifting operation of the movable fork plate of the laser navigation forklift;
creating a two-dimensional coordinate system of output data of the laser alignment unit and the uniform speed lifting time of a movable fork plate of the laser navigation forklift;
counting a time period corresponding to stable output data of the laser alignment unit;
and calculating the stacking and chopping height of the gypsum board detected by the laser alignment unit according to the uniform speed lifting speed and the time period of the movable fork board of the laser navigation forklift.
As a preferred scheme of the invention, the specific steps of calculating the stacking chopping times of the gypsum board according to the stacking chopping height of the gypsum board detected by the laser alignment unit are as follows:
setting the height of each layer of gypsum board;
and calculating the number of stacked and chopped gypsum boards of each stocking point according to the stacking and chopping height of the real gypsum boards.
As a preferable scheme of the invention, when the movable fork plate of the laser navigation forklift is at the lowest position, a compensation distance is set between the laser alignment unit and the lowest gypsum board, and the real gypsum board stacking and chopping height is specifically the sum of the gypsum board stacking and chopping height detected by the laser alignment unit and the compensation distance.
As a preferable scheme of the invention, the number of the stacked and chopped gypsum boards in real time at each stocking point is equal to the number of the stacked and chopped gypsum boards plus the number of the stacked and chopped gypsum boards.
As a preferable scheme of the present invention, a counting unit is provided at a position of the sub-conveying route close to the main conveying route, the counting unit includes an inventory counting unit for counting the number of stacked gypsum boards at each stocking point on the sub-conveying route, and a vertical height counting unit for counting the number of stacked gypsum boards at each stocking point, and the calculation results of the inventory counting unit and the vertical height counting unit are the total amount of gypsum boards stored in each stocking area.
As a preferable scheme of the present invention, the laser alignment unit calculates the number of stacked and chopped gypsum board layers at each stocking point in real time, and the number of stacked and chopped gypsum board layers is used for correcting the data of the vertical height counting unit.
The embodiment of the invention has the following advantages:
the stacking times of the laser navigation forklift at each stocking point are secondarily determined in the carrying process, so that the problem that the statistical result of the quantity of the stored gypsum boards is wrong due to the disordered counting caused by the no-load of the laser navigation forklift is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary and that other implementation drawings may be derived from the provided drawings by those of ordinary skill in the art without inventive effort.
FIG. 1 is a block diagram of an intelligent warehouse control management combination according to an embodiment of the present invention;
FIG. 2 is a block diagram of an intelligent warehouse management system according to an embodiment of the present invention;
fig. 3 is a block diagram of an intelligent warehouse control system according to an embodiment of the present invention.
In the figure:
1-warehouse partition unit; 2-stock area dividing unit; 3-a route layout unit; 4-laser navigation forklift; 5-a laser alignment unit; 6-a vision acquisition system; 7-a control system; 8-a counting unit; 9-a radio frequency identification system; 10-a management system;
501-a transmitting module; 502-a receiving module; 503-photoelectric conversion module;
801-inventory counting unit; 802-vertical height counting unit;
901-reading identification unit; 902-target chip unit.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Example 1
As shown in fig. 1 and fig. 2, the invention provides an automatic management system for intelligent gypsum board warehousing, which is applied to a laser navigation forklift to transfer produced gypsum boards to a warehouse storage scene, and during a carrying process, the management system of the embodiment can determine the stacking times of the laser navigation forklift at each stocking point and the number of the stocking points of each stock block, which are stacked, so as to calculate the number of the gypsum boards stored in each stock block in real time, and thus, the storage number and the production number of the gypsum boards can be conveniently matched and collated.
The system specifically comprises a warehouse partition unit 1, a warehouse partition unit 2, a route layout unit 3, a laser navigation forklift 4, a radio frequency identification system 9 and a management system 10.
The warehouse partition unit 1 is used for dividing the whole warehouse into a plurality of warehouse areas for storing gypsum boards with different specifications. The stock area dividing unit 2 is used for uniformly dividing each stock area into a plurality of uniformly distributed stock areas. A route layout unit 3 for setting a main conveyance route in the stock area and setting a plurality of sub conveyance routes in each of the stock lands;
and the laser navigation forklift 4 is used for conveying the gypsum boards from the production end into the corresponding inventory area.
Warehouse district partition unit 1, warehouse district partition unit 2 and route layout unit 3 are used for dividing the warehouse and store the gypsum board of different specifications respectively, conveniently to the management of gypsum board, and the operation is fairly simple when later stage is delivered from godown.
The laser navigation forklift 4 is used for conveying gypsum boards from a production end to the corresponding stock areas, and all navigation routes from the production end to each stock area are stored in the laser navigation forklift 4.
The carrying steps of the laser navigation forklift 4 in each stock land block are as follows:
firstly, planning all carrying routes from a gypsum board production end to all stock areas, and integrating, packaging and storing all the carrying routes into each laser navigation forklift;
then, defining a laser navigation fork set distributed to each inventory area, and setting a carrying route from a gypsum board production end to the distributed inventory area only by calling the laser navigation fork set;
secondly, setting a plurality of uniformly distributed stocking points on each sub-conveying route according to the distance between the stacking positions of two adjacent gypsum boards on each sub-conveying route;
finally, the laser navigation forklift set stores the gypsum boards at the next stocking point position after the stacking height of the gypsum boards at each stocking point of each stock block reaches the required height.
That is, the laser navigation forklift 4 of the present embodiment conveys gypsum boards to the corresponding stock areas according to the size specification, and when stacking each stock area, all stock points in one stock area are piled up in order, making full use of each stock area, thereby avoiding the problems of insufficient storage and space waste in warehouse applications.
When laser navigation fork truck 4 carries every stock point with the gypsum board from the production end and carries out the gypsum board stack, when the focus of guaranteeing the gypsum board stack is on same vertical line, need utilize laser to aim at unit 5 and carry out the position calibration, when guaranteeing upper gypsum board stack, the both sides limit of upper gypsum board aligns with the both sides limit of lower floor's gypsum board.
The radio frequency identification system 9 is used for identifying each laser navigation forklift entering the sub-conveying route, the radio frequency identification system 9 of the embodiment includes a reading identification unit 901 and a target chip unit 902, the reading identification unit 901 is arranged at a position of each sub-conveying route close to the main conveying route and is used for identifying the laser navigation forklift entering the sub-conveying route; the target chip unit 902 is mounted on the bottom plate of the laser navigation forklift 4 and contains basic information of the laser navigation forklift 4.
When each laser navigation forklift 4 moves to a sub-conveying route, the laser navigation forklift 4 carries gypsum boards to be stacked on the sub-conveying route, and therefore the number of the gypsum boards stacked on the sub-conveying route can be counted by reading the identification times of the identification unit 901 and the target chip unit 902.
The management system 10 comprises sub-processors arranged in each laser navigation forklift and a main processing unit used for managing the warehousing mode of each inventory area, the sub-processors and the main processing unit are in interactive communication, and the main processing unit can receive information of all the sub-processors in real time.
A counting unit 8 is arranged at a position of the sub-conveying route close to the main conveying route, and the reading identification unit 901 triggers the counting unit 8 to perform statistical work.
The counting unit 8 comprises an inventory counting unit 801 for counting the number of the stockpiling points of the stacked gypsum boards on each sub-conveying line and a vertical height counting unit 802 for counting the number of the stacked gypsum boards on each stockpiling point; when the reading identification unit 901 identifies the target chip unit 902 once, the counting result of the vertical height counting unit 802 is accumulated once; the calculation results of the stock count unit 801 and the vertical height count unit 802 are the total amount of gypsum boards stored in each stock block.
The way of calculating the total amount of gypsum board stored in the stock lot by using the stock counting unit 801 and the vertical height counting unit 802 is specifically as follows: gypsum board total = value of stock count unit 801 × set value of vertical height count unit 802 + current value of vertical height count unit 802.
The vertical height counting unit 802 of the present embodiment calculates the number of stacked layers of gypsum boards at each stocking point, the stock counting unit 801 calculates the number of stocking points of stacked gypsum boards, and when the number of stacked layers of gypsum boards at each stocking point meets the requirement, the stock counting unit 801 counts once to indicate that stacking at one stocking point is completed.
The vertical height counting unit 802 is used for counting the carrying times of the laser navigation forklift 4 on the same sub-conveying route so as to determine the gypsum board stacking height of each stocking point, and meanwhile, the stock counting unit 801 is used for counting the number of the stocking points divided by each sub-conveying route, and the specific implementation steps are as follows:
the inventory counting unit 801 and the vertical height counting unit 802 are reset, counting from zero;
the vertical height counting unit 802 accumulates once every time the reading identification unit 901 identifies the target chip unit 902;
the count data of the vertical height count unit 802 reaches a set value, the stock count unit 801 increments once, and the vertical height count unit 802 resets the count from zero after the count data of the vertical height count unit 802 reaches the set value.
The laser navigation forklift 4 changes the stock placing points according to the counting data of the stock counting unit 801, and the laser navigation forklift 4 is placed at the next stock placing point according to the set storage distance every time the stock counting unit 801 accumulates.
After the laser navigation forklift set is used for fully piling the stock placing points of each stock block, the management system 10 dispatches the laser navigation forklift set to the next stock block for work, and the specific implementation steps are as follows:
stacking gypsum boards in said stock area from the inside out;
the management system 10 receives data of the inventory count unit 801 for each of the inventory fields in real time and calculates the remaining stock-off points where no gypsum board has been placed in each of the inventory fields.
The management system 10 sorts the inventory lots according to the remaining put points of each of the inventory lots.
The number of stock-placing points in each stock-placing block is constant, the name of each stock-placing block is marked as "full in stock", "in stock" and "not in stock" according to the remaining stock-placing points, the name of the corresponding stock-placing block is marked as "full in stock" when the data of the stock-counting unit 801 is the same as the planned number of stock-placing points, the name of the corresponding stock-placing block is marked as "in stock" when the data of the stock-counting unit 801 is less than the planned number of stock-placing points, and the name of the corresponding stock-placing block is marked as "not in stock" when the data of the stock-counting unit 801 is 0.
And dispatching the laser navigation forklift group to work to the next 'unstored' inventory area from inside to outside according to the inventory area.
In conclusion, in the embodiment, the radio frequency identification system on each sub-conveying route is used for determining the conveying times of each laser navigation forklift 4, so that the stacking layer number of each stocking point of the laser navigation forklift 4 is conveniently controlled, and the laser navigation forklift 4 sequentially stacks according to the sequence of the stocking points, and therefore, whether the gypsum board stacking work of each stocking lot is finished or not can be judged by monitoring the number of the stocking points of the stocking lot which are already stacked, and the dispatching work of the conveying route of the laser navigation forklift 4 is carried out.
In addition, the number of the stocking points of each stock block which are stacked can be monitored, the number of the gypsum boards stacked in the stock block can be counted on line, the later correction work of the number of the stacked gypsum boards and the number of the produced gypsum boards is facilitated, manual calculation is not needed, the calculation work is automatically completed in the stacking process, and the calculation efficiency is high and the accuracy is high.
Example 2
As shown in fig. 1 and 3, the invention provides an automatic control system for intelligent gypsum board storage, which is applied to a laser navigation forklift to transfer produced gypsum boards to a storage scene of a warehouse, and aims to determine the stacking times of the laser navigation forklift at each stocking point in the carrying process and avoid the problem of wrong counting results of the stored gypsum boards caused by disordered counting due to no-load of the laser navigation forklift.
The method specifically comprises the following steps: the system comprises a warehouse partition unit 1, a warehouse partition unit 2, a route layout unit 3, a laser navigation forklift 4, a laser alignment unit 5, a vision acquisition system 6 and a control system 7.
The warehouse partitioning unit 1 is used for partitioning the whole warehouse into a plurality of stock areas for storing gypsum boards with different specifications, the stock area partitioning unit 2 is used for uniformly partitioning each stock area into a plurality of stock plots which are uniformly distributed, and the route layout unit 3 is used for setting a main conveying route in each stock plot and setting a plurality of sub-conveying routes in each stock plot.
Warehouse district partition unit 1, warehouse district partition unit 2 and route layout unit 3 are used for dividing the warehouse and store the gypsum board of different specifications respectively, conveniently to the management of gypsum board, and the operation is fairly simple when later stage is delivered from godown.
The laser navigation forklift 4 is used for conveying gypsum boards from a production end to the corresponding stock areas, and all navigation routes from the production end to each stock area are stored in the laser navigation forklift 4.
The carrying steps of the laser navigation forklift 4 in each stock land block are as follows:
firstly, planning all carrying routes from a gypsum board production end to all stock areas, and integrating, packaging and storing all the carrying routes into each laser navigation forklift;
then, defining a laser navigation fork truck group distributed to each inventory area, and setting the laser navigation fork truck group to only call a carrying route from a gypsum board production end to the distributed inventory area;
then, setting a plurality of uniformly distributed stocking points on each sub-conveying route according to the distance between the stacking positions of two adjacent gypsum boards on each sub-conveying route;
finally, the laser navigation forklift set stores the gypsum boards at the next stocking point position after the stacking height of the gypsum boards at each stocking point of each stock block reaches the required height.
That is, the laser navigation forklift 4 of the present embodiment conveys gypsum boards to the corresponding stock areas according to the size specification, and when stacking each stock area, all stock points in one stock area are piled up in order, making full use of each stock area, thereby avoiding the problems of insufficient storage and space waste in warehouse applications.
When laser navigation fork truck 4 carries every stock point with the gypsum board from the production end and carries out the gypsum board stack, when the focus of guaranteeing the gypsum board stack is on same vertical line, need utilize laser to aim at unit 5 and carry out the position calibration, when guaranteeing upper gypsum board stack, the both sides limit of upper gypsum board aligns with the both sides limit of lower floor's gypsum board.
The control system 7 is used for correcting the movement of the laser navigation fork truck 4 and the times of pile-chopping of the laser navigation fork truck 4 at each set-off point of the sub-conveying route.
Laser is aimed at unit 5 and is set up laser navigation fork truck's front for calculate the distance between laser navigation fork truck and the preceding fender both sides limit, wherein two the distance between unit 5 is aimed at to the laser is less than the pile length vision collection system 6 of chopping of gypsum board sets up laser navigation fork truck's front is used for acquireing the gypsum board stack image of every putting goods point of sub-delivery route.
The specific working steps of adjusting the position of the laser navigation forklift 4 by utilizing the laser alignment unit 5 and the vision acquisition system 6 are as follows:
and the vision acquisition system 6 acquires the picture of the gypsum board at the lowest layer of each stocking point in real time and acquires the edge information at two sides of the gypsum board.
The control system 7 creates a vertical relationship between the horizontal line and the line where the measuring points of the laser alignment unit 5 are located.
And the control system 7 calculates the distance between the on-line measuring point of the laser alignment unit 5 and the edges at the two sides of the plaster slab frame in real time, and adjusts the moving position of the laser navigation forklift 4.
When the vertical relationship is created, the position of the horizontal line remains unchanged, and the lines on which the measuring points of the two laser alignment units 5 are located always remain parallel to each other, and the distance between the lines on which the measuring points of the two laser alignment units 5 are located is the same.
When the position of the laser navigation forklift deviates from the position just facing the lowest gypsum board, a space is reserved between two side edges of a picture shot by the laser navigation forklift and a measuring line of the laser alignment unit 5, and the gypsum boards can be aligned and stacked by adjusting the position of the laser navigation forklift in time.
setting the safety range of the laser alignment unit 5 and the lowest gypsum board.
And receiving and processing real-time data detected by the laser alignment unit 5 in real time, and when the laser alignment unit 5 is just in a safe range, synchronously lifting the movable fork plate of the laser navigation forklift 4 and the laser alignment unit 5.
And monitoring the output data of the laser alignment unit 5 in real time, wherein the laser navigation forklift 4 piles the carried gypsum board above the lower gypsum board.
It should be added that, in general, the laser alignment unit 5 includes a transmitting module 501, a receiving module 502, and a photoelectric conversion module 503, where the transmitting module 501 is used to transmit an optical signal to the surface of the gypsum board, the receiving module 502 is used to receive an optical signal reflected from the surface of the gypsum board, and the photoelectric conversion module 503 is used to convert the optical signal of the receiving module 502 into an electrical signal.
Therefore, the laser alignment unit 5 of this embodiment determines the position of the vertical line where the laser point is emitted through the emitting module 501, and simultaneously, when the laser navigation forklift is completely aligned with the lower gypsum board, the distance between the laser navigation forklift 4 and the lowest gypsum board can be monitored by using the emitting module 501 and the receiving module 502.
Set for laser according to the fork board of laser navigation fork truck 4 and the gypsum board width of transport aim at unit 5 with the safety range of lower floor's gypsum board, touch lower floor's gypsum board when effectually avoiding promoting the stack with the gypsum board to guarantee the accurate alignment of gypsum board stack.
The laser alignment unit 5 moves synchronously with the movable fork plate of the laser navigation forklift 4, when the laser navigation forklift 4 lifts above the lower gypsum board, the output data of the receiving module 502 of the laser alignment unit 5 changes obviously, and then the laser navigation forklift 4 needs to be used for piling up the carried gypsum board above the lower gypsum board.
As can be seen from the above, the process of stacking gypsum boards in the present embodiment is mainly based on the change in the output data of the laser alignment unit 5, and when the data of the laser alignment unit 5 changes abruptly from the steady value, it means that the fork plate of the laser navigation forklift 4 moves above the lower gypsum board.
Therefore, in the embodiment, the moving distance of the fork plate of the laser navigation forklift 4 from bottom to top in the stable time period of the output data of the laser alignment unit 5 can be calculated through the duration of the stable data of the laser alignment unit 5 and the moving speed of the fork plate of the laser navigation forklift 4. The step of calculating the piled chopping height of the plasterboard at each putting point by the control system 7 according to the output data of the laser alignment unit 5 is as follows:
1. the control system 7 receives the data of the laser alignment unit 5 in real time and simultaneously times the uniform speed lifting operation of the movable fork plate of the laser navigation forklift 4;
2. creating a two-dimensional coordinate system of the output data of the laser alignment unit 5 and the movable fork plate uniform speed lifting time of the laser navigation fork truck 4;
3. counting a time period corresponding to the stable output data of the laser alignment unit 5;
4. and calculating the stacking and chopping height of the gypsum board detected by the laser alignment unit 5 according to the speed and the time period of uniform speed lifting of the movable fork board of the laser navigation fork truck 4.
That is to say, in the stack process of gypsum board, laser alignment unit 5 not only can real-time supervision laser navigation fork truck 4 body apart from the position of the stack gypsum board, can also realize measuring the height of the stack gypsum board simultaneously, according to the specific step that the gypsum board pile chops the number of times of highly calculating the gypsum board of pile chops that laser alignment unit 5 detected is:
setting the height of each layer of gypsum board; and calculating the number of stacked and chopped gypsum boards of each stocking point according to the stacking and chopping height of the real gypsum boards.
Because when the portable fork board of laser navigation fork truck 4 is in the lowest position, the interval that unit 5 and lowermost layer gypsum board were aimed at to the laser is equipped with the compensation distance, and real gypsum board pile chops the height specifically to the gypsum board pile chops height and compensation distance accumulation that unit 5 detected are aimed at to the laser.
Every put real-time pile of goods point and chop the gypsum board number of piles and add 1, say that the gypsum board detects 2 layers of gypsum boards of stack, 4 stack work backs of laser navigation fork truck 4 this moment, the gypsum board number of piles of this putting the goods point stack adds 1 for the gypsum board stack number of piles that has detected, that is to say, the stack number of piles of gypsum board this moment is 3, in time proofread with vertical high counting unit 802's counting result, the gypsum board stack number of piles that uses laser alignment unit 5 to detect is accurate, thereby realize the calibration work to whole memory space.
The present embodiment can thus realize the following functions by only one laser alignment unit 5:
1. and obtaining the distance between the vertical line of the laser emission point of the current laser navigation forklift and the two side edges of the stacked gypsum boards by using the emission module of the laser alignment unit 5, and continuously adjusting the position of the laser navigation forklift until the distance between the laser emission point of the laser navigation forklift and the two side edges of the stacked gypsum boards is equal.
2. By utilizing the cooperation of the transmitting module and the receiving module of the laser alignment unit 5, the laser navigation forklift 4 receives the laser line reflected by the lowest gypsum board in real time, so that the distance between the body of the laser navigation forklift 4 and the lowest gypsum board is calculated, and the laser navigation forklift 4 is ensured to be in a complete position during stacking;
3. according to the stability of the output data of the laser alignment unit 5 when the laser alignment unit 5 measures the same surface of the gypsum board, when the fork plates of the laser navigation forklift 4 lift and stack, the output data of the laser alignment unit 5 changes, which means that the fork plates of the laser navigation forklift 4 are just on the upper surface of the stacked gypsum board, the fork plate moving height of the laser navigation forklift 4 is obtained through the operation of the time period for the output data of the laser alignment unit 5 and the moving speed of the fork plates of the laser navigation forklift 4, and then the stacked number of layers of the gypsum board and the real-time stacked number of layers of the stacked gypsum board after the current laser navigation forklift 4 are obtained, so that the vertical height counting unit 802 is corrected, the problem of calculation errors caused by misoperation of a radio frequency identification system is avoided, and timely correction is realized.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. The utility model provides a gypsum board intelligent storage automatic control system which characterized in that includes:
the warehouse partition unit (1) is used for dividing the whole warehouse into a plurality of warehouse partitions for storing gypsum boards with different specifications;
the stock area dividing unit (2) is used for uniformly dividing each stock area into a plurality of uniformly distributed stock areas;
a route layout unit (3) for setting a main conveyance route in the stock area and setting a plurality of sub conveyance routes in each of the stock lands;
the laser navigation forklift (4) is used for transporting the gypsum boards from a production end into the corresponding inventory area;
the laser alignment unit (5) is arranged on the front face of the laser navigation forklift and used for calculating the distance between the laser navigation forklift and two side edges of a front barrier;
the visual acquisition system (6) is arranged on the front side of the laser navigation forklift and used for acquiring gypsum board stacking images of each goods placing point of the sub-conveying route;
a control system (7) for correcting the movements of the laser navigation fork-lift truck (4) and the times of pile-chopping of the laser navigation fork-lift truck (4) at each set-off point of the sub-conveying route;
two the distance between unit (5) is aimed at to laser is less than the pile of gypsum board chops length, the cooperation work process that unit (5) was aimed at to laser is:
setting the safety range of the laser alignment unit (5) and the lowest gypsum board;
the laser navigation forklift (4) adjusts the position according to the output data of the laser alignment unit (5);
the laser navigation forklift (4) is just in a safe range, and a movable fork plate of the laser navigation forklift (4) and the laser alignment unit (5) are lifted synchronously;
the data of the laser alignment unit (5) are changed, and the laser navigation forklift (4) stacks and chops the carried gypsum board above the lower gypsum board;
the step of calculating the stacking and chopping height of the gypsum board at each putting point by the control system (7) according to the output data of the laser alignment unit (5) is as follows:
the control system (7) receives the data of the laser alignment unit (5) in real time and simultaneously times the uniform speed lifting operation of the movable fork plate of the laser navigation forklift (4);
creating a two-dimensional coordinate system of output data of the laser alignment unit (5) and the movable fork plate uniform speed lifting time of the laser navigation fork lift truck (4);
counting a time period corresponding to stable output data of the laser alignment unit (5);
and calculating the stacking and chopping height of the plaster boards detected by the laser alignment unit (5) according to the uniform speed lifting speed and the time period of the movable fork board of the laser navigation forklift (4).
2. The automatic control system for intelligent warehousing of gypsum boards as claimed in claim 1, wherein the specific working steps of adjusting the position of the laser navigation forklift (4) by using the laser alignment unit (5) and the vision acquisition system (6) are as follows:
the vision acquisition system (6) acquires the picture of the gypsum board at the lowest layer of each goods placing point in real time and acquires the edges at two sides of the gypsum board;
the control system (7) creates a vertical relationship between a horizontal line and a line where the measurement points of the laser alignment unit (5) are located;
and the control system (7) calculates the distance between the on-line measuring point of the laser alignment unit (5) and the edges at two sides of the plaster slab frame in real time, and adjusts the moving position of the laser navigation forklift (4).
3. A gypsum board intelligent warehousing automatic control system according to claim 1, characterized in that the laser alignment unit (5) comprises an emitting module (501), a receiving module (502) and a photoelectric conversion module (503), the emitting module (501) is used for emitting optical signals to the surface of the gypsum board, the receiving module (502) is used for receiving optical signals reflected from the surface of the gypsum board, and the photoelectric conversion module (503) is used for converting the optical signals of the receiving module (502) into electric signals.
4. The intelligent warehousing automatic control system for gypsum boards as claimed in claim 1, wherein the specific steps of calculating the stacking chopping times of gypsum boards according to the stacking chopping height of gypsum boards detected by the laser alignment unit (5) are as follows:
setting the height of each layer of gypsum board;
and calculating the number of stacked and chopped gypsum board layers of each stocking point according to the stacking and chopping height of the real gypsum boards.
5. A gypsum board intelligent warehousing automatic control system according to claim 4, characterized in that when the movable fork plate of the laser navigation forklift (4) is at the lowest position, the distance between the laser alignment unit (5) and the lowest gypsum board is provided with a compensation distance, and the real gypsum board stacking and chopping height is specifically the stacking and chopping height and the compensation distance of the gypsum board detected by the laser alignment unit (5) are accumulated.
6. The automatic control system for intelligent warehousing of gypsum boards as claimed in claim 5, wherein the number of real-time stacked and chopped gypsum boards at each stocking point is equal to the number of stacked and chopped gypsum boards plus 1.
7. An automatic control system for intelligent storage of gypsum boards according to claim 6, wherein a counting unit (8) is arranged at a position of the sub-conveying route close to the main conveying route, the counting unit (8) comprises an inventory counting unit (801) for counting the number of stacked gypsum boards at each stocking point on the sub-conveying route, and a vertical height counting unit (802) for counting the number of stacked gypsum boards at each stocking point, and the calculation results of the inventory counting unit (801) and the vertical height counting unit (802) are the total amount of gypsum boards stored in each inventory field.
8. The intelligent warehousing automatic control system for gypsum boards as claimed in claim 6, characterized in that the laser alignment unit (5) calculates the number of stacked and chopped gypsum boards in real time at each stocking site for correcting data of the vertical height counting unit (802).
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| US8965561B2 (en) * | 2013-03-15 | 2015-02-24 | Cybernet Systems Corporation | Automated warehousing using robotic forklifts |
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| CN105046293A (en) * | 2015-06-25 | 2015-11-11 | 苏州木兰电子科技有限公司 | Truck counting method based on radio frequency identification |
| CN107169611A (en) * | 2017-06-09 | 2017-09-15 | 金陵科技学院 | A kind of patterned way planning AGV travel regions and the method for monitoring its operation |
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