CN114004561A - Automatic waste storage system based on unmanned forklift - Google Patents
Automatic waste storage system based on unmanned forklift Download PDFInfo
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- CN114004561A CN114004561A CN202111225348.7A CN202111225348A CN114004561A CN 114004561 A CN114004561 A CN 114004561A CN 202111225348 A CN202111225348 A CN 202111225348A CN 114004561 A CN114004561 A CN 114004561A
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- 239000002699 waste material Substances 0.000 title claims abstract description 96
- 238000012545 processing Methods 0.000 claims abstract description 14
- 239000002920 hazardous waste Substances 0.000 claims description 18
- 230000032258 transport Effects 0.000 claims description 7
- 238000004806 packaging method and process Methods 0.000 claims description 4
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 2
- 238000007726 management method Methods 0.000 description 16
- 238000012856 packing Methods 0.000 description 8
- 241000196324 Embryophyta Species 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002910 solid waste Substances 0.000 description 2
- 241000220317 Rosa Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000002440 industrial waste Substances 0.000 description 1
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
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- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses an automatic waste storage system based on an unmanned forklift, which comprises an electric forklift, a dangerous waste storage box, a forklift track, an automatic storage warehouse and a storage management unit, wherein an RFID label is arranged on the dangerous waste storage box; the storage management unit comprises a processing module, a storage module and a circuit control module, the automatic storage warehouse is composed of a storage shelf and a storage area, the storage module stores a waste type storage table, the processing module is used for calculating a path from an initial position of the electric forklift to the automatic storage warehouse, and the circuit control module is used for controlling the advancing direction of the electric forklift on a forklift track. The invention realizes the saving of a large amount of operation energy of the electric forklift, ensures that the operation cost of the whole system is reduced to the minimum and improves the operation efficiency of the whole system.
Description
Technical Field
The invention belongs to the technical field of industrial waste treatment, and particularly relates to an automatic waste storage system based on an unmanned forklift.
Background
The dangerous waste refers to solid waste with dangerous characteristics listed in a national dangerous waste list or identified according to a national specified dangerous waste identification standard and identification method, at present, the dangerous waste in China is divided into 49 categories of more than 700 types, the categories are multiple, the components are complex, the dangerous waste has toxicity, corrosiveness, flammability and explosiveness, the pollution of the dangerous waste has potential and hysteresis, the dangerous waste is important in preventing and treating the pollution of the solid waste, the existing dangerous waste disposal and storage system is still in an original manual operation stage, and the problems that the carrying workload is large, the efficiency is low, the labor cost is high, the storage management is difficult when dangerous waste is manually recorded, the human health is harmed, and the like exist.
Fork trucks are industrial handling vehicles, and refer to various wheeled handling vehicles that perform handling, stacking, and short-distance transport operations on piece pallet goods. The forklift is widely applied to ports, goods yards, factory workshops, warehouses, logistics centers and the like. The traditional forklift needs to be provided with a driver, and has high requirements on the skill of the driver and high labor intensity. Due to rising human costs and the development of computer communication technology, unmanned forklifts are increasingly used in standardized warehouses.
The intelligent warehousing management system and method based on the RFID forklift with the Chinese application publication number of CN107038546A comprise an RFID antenna and a card reader which are arranged on the forklift and used for reading goods, a first RFID electronic tag attached to a goods shelf, a second RFID electronic tag attached to the goods and a control host. The card reader is connected with the control host to transmit the read data information to the control host.
The existing unmanned forklift and the technology for automatic storage management tend to be mature, but the technical requirements for planning the operation path of the unmanned forklift in automatic transportation are high, if the unmanned forklift runs and stores waste in a non-optimal path for a long time, a large amount of operation energy can be wasted, and the operation cost is hard to bear.
Disclosure of Invention
The invention provides an automatic waste storage system based on an unmanned forklift, and aims to solve the problems that in the prior art, the unmanned forklift runs and stores waste in a non-optimal path for a long time, so that a large amount of running energy is wasted, and the running cost of the whole system is overhigh.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
an automatic waste storage system based on an unmanned forklift comprises an electric forklift, a dangerous waste containing box, a forklift track, an automatic storage warehouse and a storage management unit, wherein the electric forklift transports and stores the dangerous waste containing box to a corresponding position of the automatic storage warehouse through the forklift track;
the dangerous waste containing box is provided with an RFID label, the electric forklift is provided with an RFID reader-writer, a wireless signal transmitter is arranged in the RFID reader-writer, and the storage management unit is connected with a wireless signal receiver; the storage management unit comprises a processing module, a storage module and a circuit control module, the automatic storage warehouse is composed of a storage shelf and a storage area, the storage module stores a waste type storage table, the processing module is used for calculating a path from an initial position of the electric forklift to the automatic storage warehouse, and the circuit control module is used for controlling the advancing direction of the electric forklift on a forklift track.
The using principle of the dangerous waste storage box is that firstly, an RFID reader-writer on the electric forklift is used for identifying an RFID label on the dangerous waste storage box, and a wireless signal transmitter built in the RFID reader-writer is used for remotely transmitting an identified RFID label code on the dangerous waste storage box and the position information of the dangerous waste storage box to a storage management unit. Then, the storage position of the corresponding waste type in the automatic storage warehouse is found by comparing the RFID label codes of the waste type storage table, and the optimal track path from the electric forklift to the storage position of the automatic storage warehouse is calculated through the processing module. And finally, controlling the electric forklift to move to the corresponding storage shelf of the storage position of the automatic storage warehouse on the forklift track through the circuit control module.
Further, the fork truck track comprises vertically and horizontally staggered's two-way slide rail, and electric fork truck's bottom is equipped with two sets of 4 wheels, and mutually perpendicular sets up between two sets of 4 wheels.
Furthermore, the electric forklift comprises a forklift body, a pallet fork, two groups of 4 wheels, a group of lifting and folding devices with 4 wheels, an electric drive system and an electric control push plate, wherein the pallet fork is arranged at the front end and the rear end of the forklift body, the lifting and folding devices are independently linked with the group of 4 wheels, and the lifting of the group of 4 wheels is controlled by the lifting and folding devices; the electric drive system is arranged in the forklift body and used for driving one group of 4 wheels of the two groups of 4 wheels to roll on the forklift track, and the electric drive system is also used for controlling the lifting control of the lifting and folding device and the power control of the electric control push plate for pushing the dangerous waste containing box.
Further, the storage information of the waste type storage table includes a waste type, a waste type RFID tag code, a waste storage area, and a waste storage coordinate.
Further, storage goods shelves set up between two-way slide rail, and storage goods shelves lowest floor storage height is more than or equal to electric fork truck's fork minimum height, and storage goods shelves highest floor storage height is less than or equal to electric fork truck's the highest height that the fork rose.
Further, the processing module calculates the path of the electric forklift to the automatic storage warehouse, and an optimal path algorithm is adopted, so that the shortest distance of the driving path of the electric forklift is calculated and used as the transportation distance of the electric forklift.
Further, the waste storage coordinate comprises a storage area, a storage shelf number and a row and column coordinate of the storage shelf, the area number corresponding to the storage area is set as S, the position of the storage shelf corresponding to the storage shelf number is set as (x, Y), and the row and column coordinate of the storage shelf corresponds to the storage grid coordinate (Y, Z) on the shelf.
Further, still include the hazardous waste packing plant of classifying of hazardous waste, the hazardous waste packing plant of classifying of hazardous waste is used for holding case packing hazardous waste who corresponds hazardous waste and classify different types.
Compared with the prior art, the invention has the following beneficial effects:
the optimal path of the electric forklift to the corresponding storage shelf of the storage position of the automatic storage warehouse is intelligently calculated through the storage management unit, and the running path of the electric forklift is remotely controlled through a circuit control module of the storage management unit; and then realize the saving of a large amount of operating energy of electric fork-lift truck, ensure that entire system operating cost reduces to minimum, improve entire system's operating efficiency.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automated waste storage system based on an unmanned forklift truck according to the present invention;
FIG. 2 is a schematic structural diagram of an electric forklift of the automatic waste storage system based on the unmanned forklift;
FIG. 3 is a schematic view of the bottom structure of an electric forklift of the automatic waste storage system based on the unmanned forklift;
FIG. 4 is a side view of an electric fork lift truck of an automated waste storage system based on an unmanned fork lift truck of the present invention;
fig. 5 is a control flow chart of the waste automatic storage system based on the unmanned forklift.
The notation in the figure is: the system comprises a 1-electric forklift, a 2-dangerous waste containing box, a 3-forklift track, a 4-automatic storage warehouse, a 5-storage management unit, a 51-processing module, a 52-storage module, a 53-circuit control module, a 6-RFID reader-writer, a 7-wireless signal transmitter, an 8-wireless signal receiver, a 101-forklift body, a 102-pallet fork, a 103-two groups of 4 wheels, a 104-lifting and folding device, a 105-electric driving system, a 106-electric control push plate, a 9-dangerous waste classification packaging device, an 11-storage shelf and a 12-RFID tag.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
As shown in fig. 1, an unmanned forklift-based automatic waste storage system comprises an electric forklift 1, a hazardous waste containing box 2, a forklift rail 3, an automatic storage warehouse 4 and a storage management unit 5, wherein the electric forklift 1 transports and stores the hazardous waste containing box 2 to a corresponding position of the automatic storage warehouse 4 through the forklift rail 3; the dangerous waste containing box 2 is provided with an RFID label 12, the electric forklift 1 is provided with an RFID reader-writer 6, the RFID reader-writer 6 is internally provided with a wireless signal transmitter 7, and the storage management unit 5 is connected with a wireless signal receiver 8; the storage management unit 5 comprises a processing module 51, a storage module 52 and a circuit control module 53, the automatic storage warehouse 4 is composed of a storage rack 11 and a storage area, the storage module 52 stores a waste type storage table, the processing module 51 is used for calculating a path from the initial position of the electric forklift 1 to the automatic storage warehouse 4, and the circuit control module 53 is used for controlling the advancing direction of the electric forklift 1 on the forklift track 3.
The using principle of the invention is that firstly, the RFID reader-writer 6 on the electric forklift 1 identifies the RFID label 12 on the dangerous waste containing box, and the wireless signal transmitter 7 built in the RFID reader-writer 6 remotely transmits the identified RFID label 12 on the dangerous waste containing box 2 and the position information of the dangerous waste containing box 2 to the storage management unit 5. Then, by comparing the RFID tag 12 codes of the waste type storage table, the storage location of the corresponding waste type in the automated storage warehouse 4 is found, and the optimal track path from the electric forklift 1 to the storage location of the automated storage warehouse 4 is calculated by the processing module 51. Finally, the electric forklift 1 is controlled by the circuit control module 53 to move on the forklift track 3 to the corresponding storage shelf 11 of the storage position of the automated storage warehouse 4.
As shown in fig. 2, 3 and 4, the electric forklift 1 includes a forklift body 101, a fork 102, two sets of 4 wheels 103, a set of 4-wheel lifting and folding device 104, an electric drive system 105 and an electric control push plate 106, the fork 102 is disposed at the front and rear ends of the forklift body 101, the lifting and folding device 104 is independently linked with the set of 4 wheels, and the lifting and folding device 104 is lifted and lowered to control the lifting and lowering of the set of 4 wheels; the electric driving system 105 is arranged in the forklift body 101 and is used for driving one 4 wheels of the two groups of 4 wheels 103 to roll on the forklift track 3, and the electric driving system 105 is also used for controlling the lifting control of the lifting and folding device 104 and the power control of the electric control push plate 106 for pushing the hazardous waste containing box 2. When the electric forklift 1 runs on the forklift track 3 in the optimal path and needs to turn at right angle, the linear right-angle steering operation of the forklift body 101 can be realized only by descending a group of 4 wheels which do not operate and then lifting a group of 4 wheels which operate without adding a complicated steering mechanism of the electric forklift 1. The purpose of the forks 102 being arranged at the front and rear ends of the forklift body 101 is to facilitate the forklift to carry out the storage of hazardous waste on the storage racks 11 on the left and right sides of the forklift track 3. The electrically controlled push plate 106 is provided to facilitate pushing of the hazardous waste holding boxes 2 thereof into the shelf grid when the forks 102 transport the hazardous waste to the storage shelf 11 directly in front of the shelf grid.
The storage information of the waste type storage table comprises waste types, waste type RFID tags 12 codes, waste storage areas and waste storage coordinates. The RFID tag 12 code convenient for the electric forklift 1 to identify is used as a unique identification code, and the waste storage area and the waste storage coordinate of the hazardous waste containing box 2 are searched in a one-to-one correspondence mode. The waste type RFID tag 12 code of the waste type storage table is a related field, and is related to the waste type, the waste storage area, and the plurality of waste storage coordinates.
The storage shelf 11 is arranged between the two-way sliding rails, the storage height of the lowest layer of the storage shelf 11 is larger than or equal to the lowest height of the fork 102 of the electric forklift 1, and the storage height of the highest layer of the storage shelf 11 is smaller than or equal to the highest height of the fork 102 of the electric forklift 1. So that the fork 102 and the electric control push plate 106 can accurately push the hazardous waste containing box 2 into the shelf grid.
The processing module 51 calculates the path of the electric forklift 1 moving to the automatic storage warehouse 4, adopts an optimal path algorithm, and calculates the shortest distance of the running path of the electric forklift 1 as the transportation distance of the electric forklift 1. The optimal path of the electric forklift 1 driving to the dangerous waste containing box 2 to push into the goods shelf lattices is calculated by adopting an optimal path algorithm, the path distance of the electric forklift 1 is reduced, the running cost of the electric forklift 1 is reduced, and the storage efficiency of the dangerous waste containing box 2 is improved.
The waste storage coordinate comprises a storage area, a storage shelf 11 number and a row-column coordinate of the storage shelf 11, the storage area corresponding area number is set as S, the storage shelf 11 number corresponding shelf position is set as (x, Y), and the row-column coordinate of the storage shelf 11 corresponds to the storage grid coordinate (Y, Z) on the shelf.
The optimal path calculation method comprises the following steps: judging that the starting points comprise a plurality of transverse forklift tracks 3 of the longitudinal forklift track 3, which need to turn, of the electric forklift 1 through the area number S; then, specifically traversing the minimum value of all the distance values which can be traveled to the coordinate point through the shelf position coordinate (x, y); finally, the numerical value of the fork 102 needing to be lifted is specifically judged through the storage grid coordinates (Y, Z) on the goods shelf, and then the shortest distance of the electric forklift 1 running on the existing transverse and longitudinal forklift tracks 3 and the lifting height distance of the fork 102 of the electric forklift 1 are comprehensively judged.
Still including dangerous waste classification packing plant 9, dangerous waste classification packing plant 9 is used for packing dangerous waste with the dangerous waste holding box 2 that corresponds dangerous waste classification difference. Dangerous waste classification packing plant 9 is convenient for hold case 2 discernment dangerous waste type through unified dangerous waste before electric fork-lift 1 discernment and transportation dangerous waste to the packing is accomplished, treats electric fork-lift 1 discernment and transportation.
Compared with the prior art, the invention has the following beneficial effects:
the optimal path from the electric forklift 1 to the storage position of the automatic storage warehouse 4 corresponding to the storage shelf 11 is intelligently calculated through the storage management unit 5, and the running path of the electric forklift 1 is remotely controlled through the circuit control module 53 of the storage management unit 5; and then realize the saving of a large amount of operating energy of electric fork-lift 1, ensure that entire system's running cost reduces to minimum, improve entire system's operating efficiency.
The above provides a waste automation warehousing system based on unmanned fork truck introduces in detail. The description of the specific embodiments is only intended to facilitate an understanding of the methods of the present application and their core concepts. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (8)
1. The automatic waste storage system based on the unmanned forklift is characterized by comprising an electric forklift (1), a dangerous waste containing box (2), a forklift track (3), an automatic storage warehouse (4) and a storage management unit (5), wherein the electric forklift (1) transports and stores the dangerous waste containing box (2) to a corresponding position of the automatic storage warehouse (4) through the forklift track (3);
an RFID label (12) is arranged on the dangerous waste containing box (2), an RFID reader-writer (6) is arranged on the electric forklift (1), a wireless signal transmitter (7) is arranged in the RFID reader-writer (6), and the storage management unit (5) is connected with a wireless signal receiver (8); the storage management unit (5) comprises a processing module (51), a storage module (52) and a circuit control module (53), the automatic storage warehouse (4) is composed of a storage rack (11) and a storage area, the storage module (52) stores a waste type storage table, the processing module (51) is used for calculating the path from the initial position of the electric forklift (1) to the automatic storage warehouse (4), and the circuit control module (53) is used for controlling the advancing direction of the electric forklift (1) on the forklift track (3).
2. The waste automatic storage system based on the unmanned forklift as claimed in claim 1, wherein the forklift track (3) is composed of criss-cross bidirectional slide rails, two sets of 4 wheels (103) are arranged at the bottom of the electric forklift (1), and the two sets of 4 wheels (103) are arranged perpendicularly to each other.
3. The waste automatic storage system based on the unmanned forklift as claimed in claim 1, wherein the electric forklift (1) comprises a forklift body (101), a pallet fork (102), two sets of 4 wheels (103), a set of 4-wheel lifting and folding device (104), an electric drive system (105) and an electric control push plate (106), the pallet fork (102) is arranged at the front end and the rear end of the forklift body (101), the lifting and folding device (104) is independently linked with the set of 4 wheels, and the lifting of the set of 4 wheels is controlled by the lifting and folding device (104); the electric driving system (105) is arranged in the forklift body (101) and used for driving one group of 4 wheels in the two groups of 4 wheels (103) to roll on the forklift track (3), and the electric driving system (105) is also used for controlling the lifting control of the lifting and folding device (104) and the power control of the electric control push plate (106) for pushing the dangerous waste containing box (2).
4. An unmanned forklift-based waste automation storage system according to claim 2 or 3, characterized in that the storage information of the waste kind storage table includes a waste kind, a waste kind RFID tag (12) code, a waste storage area and waste storage coordinates.
5. The automated waste storage system based on an unmanned forklift as claimed in claim 4, wherein the storage racks (11) are arranged between two-way sliding rails, the lowest storage height of the storage racks (11) is greater than or equal to the lowest height of the forks (102) of the electric forklift (1), and the highest storage height of the storage racks (11) is less than or equal to the highest height of the forks (102) of the electric forklift (1) in a rising manner.
6. The automated waste storage system based on the unmanned forklift as claimed in claim 5, wherein the processing module (51) calculates the path of the electric forklift (1) to the automated storage warehouse (4) by adopting an optimal path algorithm, and calculates the shortest distance of the driving path of the electric forklift (1) as the transportation distance of the electric forklift (1).
7. The automated waste storage system according to claim 6, wherein the waste storage coordinates include a storage area, a storage rack (11) number, and row and column coordinates of the storage rack (11), the storage area corresponding area number is S, the storage rack (11) number corresponding rack position is (x, Y), and the row and column coordinates of the storage rack (11) correspond to the storage grid coordinates (Y, Z) on the rack.
8. The automated waste storage system according to claim 7, further comprising a hazardous waste classification packaging device (9), wherein the hazardous waste classification packaging device (9) is used for packaging hazardous waste containing boxes (2) corresponding to different types of hazardous waste.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111225348.7A CN114004561A (en) | 2021-10-21 | 2021-10-21 | Automatic waste storage system based on unmanned forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111225348.7A CN114004561A (en) | 2021-10-21 | 2021-10-21 | Automatic waste storage system based on unmanned forklift |
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| Publication Number | Publication Date |
|---|---|
| CN114004561A true CN114004561A (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111225348.7A Withdrawn CN114004561A (en) | 2021-10-21 | 2021-10-21 | Automatic waste storage system based on unmanned forklift |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117550271A (en) * | 2024-01-08 | 2024-02-13 | 深圳市鸿鹭工业设备有限公司 | Intelligent stacking robot based on radio frequency chip and control system |
-
2021
- 2021-10-21 CN CN202111225348.7A patent/CN114004561A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117550271A (en) * | 2024-01-08 | 2024-02-13 | 深圳市鸿鹭工业设备有限公司 | Intelligent stacking robot based on radio frequency chip and control system |
| CN117550271B (en) * | 2024-01-08 | 2024-04-19 | 深圳市鸿鹭工业设备有限公司 | Intelligent stacking robot based on radio frequency chip and control system |
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Application publication date: 20220201 |