CN116882855A

CN116882855A - Goods position selection method, device and storage medium for preventing goods shelf from side turning

Info

Publication number: CN116882855A
Application number: CN202311140856.4A
Authority: CN
Inventors: 钱文龙; 肖晓清; 田红伟; 张炜炜
Original assignee: Nantong Xihe Software Technology Co ltd
Current assignee: Nantong Xihe Software Technology Co ltd
Priority date: 2023-09-06
Filing date: 2023-09-06
Publication date: 2023-10-13
Anticipated expiration: 2043-09-06
Also published as: CN116882855B

Abstract

The invention discloses a goods space selection method, a device and a storage medium for preventing goods shelves from side turning, wherein the method comprises the following steps: acquiring weight information of goods to be put on a rack; acquiring empty space information and integral gravity center information of a goods shelf; calculating a new integral center of gravity obtained after the goods to be put on the shelf are matched with each empty goods space on the shelf; and judging whether a proper empty cargo space exists or not and/or selecting the empty cargo space according to the new integral center of gravity. According to the invention, the goods to be put on the shelf are matched with each empty goods position on the shelf, the comprehensive gravity center of the matched shelf and all the goods on the shelf, namely the new integral gravity center, can be calculated, and whether the corresponding empty goods position meets the requirement or can be used as a selected goods position can be judged according to the position and parameters of the new integral gravity center, so that the phenomenon that the whole gravity center of the shelf is changed to cause rollover or rollover easily in the movement process after the goods are put on the shelf can be effectively avoided, and the safety of the shelf carrying process can be ensured.

Description

Goods position selection method, device and storage medium for preventing goods shelf from side turning

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to a goods position selection method and device for preventing goods shelves from side turning and a storage medium.

Background

In the storage logistics field, when carrying out the sorting mode of goods arrival people, need carry AGV to carry on the goods shelves jack-up transport, have the goods space that the storing was used on a plurality of sides on the goods shelves, because the variety of goods, therefore the goods (can be the goods itself or the workbin that is equipped with the goods) in each goods space have light weight, goods shelves and the whole focus of goods in it can be towards one side skew more, when carrying AGV and carrying goods shelves operation, if the whole focus skew of goods shelves is too big will turn on one's side danger. In order to solve the above-mentioned problems, in the prior art, solutions are generally sought in the mechanical aspect, for example, in the solutions of patent CN214326134U and the like, the shelf rollover prevention device is additionally installed on the AGV to prevent the shelf from rollover, and the structures of the AGV need to be modified in such a way that the structures of the shelf may also need to be modified, so that the cost is high, and therefore, a low-cost solution is sought to solve the above-mentioned problems.

Disclosure of Invention

The invention aims to: in order to overcome the defects in the prior art, the invention provides a goods position selection method, a device and a storage medium for preventing the goods shelves from side turning, which have low cost and can reasonably select goods positions in the goods loading process so as to balance the gravity centers of the goods shelves.

The technical scheme is as follows: in order to achieve the above object, the method for selecting a cargo space for preventing a side-turning of a shelf according to the present invention comprises:

acquiring weight information of goods to be put on a rack;

acquiring empty space information and integral gravity center information of a goods shelf;

calculating a new integral center of gravity obtained after the goods to be put on the shelf are matched with each empty goods space on the shelf;

and judging whether a proper empty cargo space exists or not and/or selecting the empty cargo space according to the new integral center of gravity.

Further, the determining whether there is a suitable empty space and/or selecting the empty space according to the new overall center of gravity includes:

judging whether the new integral center of gravity in the overlook direction falls within the outline of the tray, if so, taking the corresponding empty cargo space as an alternative cargo space, otherwise, rejecting the corresponding empty cargo space;

counting the number of the alternative goods places;

when the alternative cargo space is unique, taking the alternative cargo space as a selected cargo space;

when the number of the candidate goods places is multiple, selecting the candidate goods places with the large d/h value as selected goods places; wherein d is the minimum distance between the new integral center of gravity and the edge of the tray, and h is the height between the new integral center of gravity and the tray.

Further, the method further comprises:

loading the goods to be loaded to the selected goods space;

and updating the whole gravity center information.

Further, the counting the number of the candidate positions further includes:

when the number of the candidate goods places is 0, simulating goods replacement, and calculating the gravity center change condition after simulating goods replacement; the simulated goods replacement is to take down original goods on the goods shelf to obtain a release goods space, put the taken goods on the shelf to an empty goods space, and put the goods to be put on the shelf to the release goods space;

and determining a goods changing scheme according to the calculated gravity center change condition after goods changing, adjusting the goods position according to the goods changing scheme, and putting the goods to be put on the shelf to the shelf.

Further, the performing the simulated change includes:

selecting alternative cargoes according to the weight and the height value of each cargoes on the goods shelf;

and matching the alternative goods with each empty goods space on the goods shelf to obtain a plurality of goods changing schemes.

The invention also provides a goods space selecting device for preventing the goods shelves from turning on one's side, which comprises:

the first acquisition module is used for acquiring weight information of goods to be put on the shelf;

the second acquisition module is used for acquiring the empty space information and the whole gravity center information of the goods shelf;

the calculating module is used for calculating a new integral center of gravity obtained after the goods to be put on the shelf are matched with each empty goods space on the shelf;

and the selection module is used for judging whether a proper empty cargo space exists or not and/or selecting the empty cargo space according to the new integral center of gravity.

The invention also provides a storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned goods shelf rollover prevention goods shelf location selection method.

The beneficial effects are that: according to the goods position selection method, the goods position selection device and the storage medium for preventing the goods shelves from being turned over, the goods to be put on the shelf are matched with each empty goods position on the goods shelves, the comprehensive gravity centers of the goods shelves and all the goods on the goods shelves after the matching, namely the new integral gravity center, can be calculated, whether the corresponding empty goods positions meet the requirements and can be used as selected goods positions or not can be judged according to the position and the parameters of the new integral gravity center, and therefore the situation that the goods shelves are turned over easily in the turning or moving process due to the fact that the integral gravity centers of the goods shelves are changed after the goods shelves are put on the shelf can be effectively avoided, and the safety of the goods shelves are conveyed can be guaranteed.

Drawings

FIG. 1 is a state diagram of a warehouse logistics system when an AGV lifts a shelf;

FIG. 2 is a flow chart of a method of cargo space selection to prevent rollover of a shelf;

FIG. 3 is a flowchart showing a specific process for determining whether there is an appropriate empty space and/or selecting the empty space based on the new center of gravity of the whole;

FIG. 4 is a schematic view of a cargo space selection device for preventing rollover of a shelf.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that the description of "first", "second", etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying an indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Furthermore, in the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.

The goods space selection method for preventing the goods shelves from turning on one's side is used for a warehouse logistics system, and the warehouse logistics system consists of an AGV100 and a movable goods shelf 200, wherein, as shown in figure 1, the AGV100 is provided with a tray 110 which can be lifted, and during operation, the AGV100 drills into the bottom of the goods shelf 200 and lifts the tray 110 so as to jack up the goods shelf 200, and thus, the AGV100 can drive the goods shelf 200 to move. The plurality of sides of the goods shelf 200 are provided with goods places for accommodating goods, and the goods in the goods places can be the goods per se or can be the material boxes for placing the goods.

Based on the warehouse logistics system composed of the AGV100 and the shelf 200, as shown in FIG. 2, the invention provides a goods space selection method for preventing the shelf from rollover, which comprises the following steps S101-S104:

step S101, acquiring weight information of goods to be put on a rack;

in actual implementation, a weighing device can be arranged in the picking workstation, the goods to be put on the rack are conveyed to the weighing device for weighing, and the weight information of the goods to be put on the rack is obtained by reading the data of the weighing device;

step S102, acquiring the empty space information and the whole gravity center information of the goods shelf 200; wherein, the overall gravity center information is integrated gravity center information integrating the goods shelf 200 and all goods on the goods shelf 200, and the overall gravity center information comprises three-dimensional coordinate data;

step S103, calculating a new integral center of gravity A obtained after the goods to be put on the shelf are matched with each empty goods space on the shelf 200;

in this step, when calculating the new overall center of gravity a, for convenience of calculation, a point (such as the geometric center of the bin) at a specific position on the goods to be placed on the shelf may be used as the center of gravity of the goods to be placed on the shelf.

Step S104, judging whether a proper empty cargo space exists or not and/or selecting the empty cargo space according to the new integral center of gravity A.

Preferably, as shown in fig. 3, the step S104 of determining whether there is a suitable empty space and/or selecting the empty space according to the new overall center of gravity a includes the following steps S201-S204:

step S201, judging whether the new integral center of gravity A in the overlook direction falls within the outer contour of the tray 110, if so, taking the corresponding empty cargo space as an alternative cargo space, otherwise, rejecting the corresponding empty cargo space;

step S202, counting the number of the candidate goods places;

step S203, when the candidate goods location is unique, the candidate goods location is taken as a selected goods location;

step S204, when the number of the candidate goods places is a plurality of, selecting the candidate goods place with the large d/h value as a selected goods place; where d is the minimum distance between the new center of gravity a and the edge of the tray 110, and h is the height between the new center of gravity a and the tray 110, as shown in fig. 1.

In this step, the determination of the selected cargo space according to the value of d/h is based on the following principle:

as shown in fig. 1, during the movement of the AGV100 to carry the shelf 200, in order to ensure that the shelf 200 does not roll over, the following conditions are required:

f/d is less than or equal to M/h; namely: and ma/d is less than or equal to mg/h, and g is greater than or equal to d/h and is greater than or equal to a.

Where f is the friction between the tray 110 and the pallet 200, and M is the gravity of the pallet 200; m is the weight of the pallet 200; a is the running acceleration of the AGV 100; g is a gravity parameter.

As is clear from the above equation, the value of d/h determines the maximum value of the running acceleration of the AGV100, and in order to allow the AGV100 to run with a large acceleration, it is necessary to increase the value of d/h, and therefore, the candidate load with a large value of d/h is selected as the selected load.

After the selected cargo space is obtained, the cargo space can be selected according to a _max Calculating the maximum operating acceleration the AGV can perform with the shelf, where a =g x d/h _max Is the maximum acceleration value. AGV100 changes the load on the shelf by a _max And the maximum acceleration value is used for running, so that the shelf can be prevented from being turned over.

By adopting the loading method, the goods to be loaded are matched with each empty goods position on the goods shelf 200, the comprehensive gravity centers of the goods shelf 200 and all the goods on the goods shelf 200 after the matching, namely the new integral gravity center A, can judge whether the corresponding empty goods position meets the requirement and can be used as a selected goods position according to the position and the parameters of the new integral gravity center A, so that the situation that the goods shelf 200 is easy to roll over in the process of rolling over or moving due to the integral gravity center change of the goods shelf 200 can be effectively avoided, and the safety of the process of carrying the goods shelf 200 can be ensured.

Preferably, after the step S203 or the step S204, the method further includes the following steps S301 to S302:

step S301, loading the goods to be loaded to the selected goods space;

step S302, updating the whole gravity center information.

The center of gravity information of the whole goods shelf 200 is updated, so that the center of gravity calculation and evaluation can be conveniently performed in the subsequent goods loading or unloading process.

Preferably, the counting the number of the candidate positions in the step S202 further includes the following steps S401 to S402:

step S401, when the number of the candidate goods places is 0, simulating goods replacement, and calculating the gravity center change condition after the simulated goods replacement; the simulated change is to take down the original goods on the goods shelf 200 to obtain a release goods space, put the taken-down goods on the shelf to an empty goods space, and put the goods to be put on the shelf to the release goods space;

step S402, determining a goods replacement scheme according to the calculated gravity center change condition after goods replacement, and adjusting the goods position and putting the goods to be put on the shelf to the shelf 200 according to the goods replacement scheme.

In the above steps S401 to S402, when there is no suitable alternative cargo space, the center of gravity change conditions of various simulated cargo change schemes are calculated first, then the cargo change scheme is determined according to the center of gravity change conditions, and the cargo to be put on the shelf can be put on the shelf in a cargo-sorting manner, so that the overall center of gravity of the shelf 200 meets the requirements.

Preferably, the performing the simulated change in the step S401 includes the following steps S501-S502:

step S501, selecting an alternative cargo according to the weight and the height value of each cargo on the shelf 200;

in this step, a heavy cargo having a weight greater than the cargo to be put on the shelf and located above all the empty cargo spaces is preferentially selected as the candidate cargo, and a light cargo having a weight less than the cargo to be put on the shelf and located below all the empty cargo spaces may be selected as the candidate cargo. Since heavy goods at a high level may shift the overall center of gravity of the pallet 200 upward and cause a large deviation, while light goods at a low level may occupy the positions of heavy goods, these two types of goods are preferably selected as alternatives.

Step S502, matching the candidate goods with each empty space on the shelf 200 to obtain a plurality of goods changing schemes.

The present invention also provides a cargo space selecting device 600 for preventing the rollover of a shelf, wherein the cargo space selecting device 600 may include or be divided into one or more program modules, and the one or more program modules are stored in a storage medium and executed by one or more processors, so as to complete the present invention, and the cargo space selecting method for preventing the rollover of a shelf can be implemented. Program modules in accordance with the embodiments of the present invention are directed to a series of computer program instruction segments capable of performing particular functions, and are more suited to describing the implementation of a method for cargo space selection in a storage medium that prevents rollover of a shelf than the program itself. The following description will specifically describe the functions of the program modules of the present embodiment, and as shown in fig. 4, the cargo space selection device 600 includes:

a first obtaining module 601, configured to obtain weight information of a load to be put on a rack;

a second acquiring module 602, configured to acquire space information and overall center of gravity information of the shelf 200;

the calculating module 603 is configured to calculate a new overall center of gravity a obtained after the goods to be put on the shelf are matched with each empty space on the shelf 200;

the selection module 604 determines whether there is a suitable empty space and/or selects the empty space according to the new overall center of gravity a.

Other contents of the above-mentioned cargo space selecting method for preventing the rollover of the shelf based on the cargo space selecting device 600 are described in detail in the previous embodiments, and reference may be made to the corresponding contents in the previous embodiments, which are not repeated herein.

The present embodiment also provides a computer-readable storage medium such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, which when executed by a processor, performs the corresponding functions. The computer readable storage medium of this embodiment is used to store the cargo space selection device 600, which when executed by a processor implements the cargo space selection method of the present invention for preventing rollover of a shelf.

The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.

Claims

1. A method of cargo space selection for preventing rollover of a shelf, the method comprising:

acquiring weight information of goods to be put on a rack;

2. The method of claim 1, wherein determining whether there is an appropriate empty space and/or selecting the empty space based on the new center of gravity of the whole comprises:

counting the number of the alternative goods places;

3. The method of cargo space selection for preventing rollover of a shelf as recited in claim 2, further comprising:

loading the goods to be loaded to the selected goods space;

and updating the whole gravity center information.

4. The method of claim 2, wherein counting the number of candidate positions further comprises:

5. The method of claim 4, wherein said performing a simulated change comprises:

6. A cargo space selection device for preventing rollover of a shelf, comprising:

7. A storage medium having stored thereon a computer program which when executed by a processor implements the method for cargo space selection for preventing rollover of a shelf as defined in any one of claims 1-5.