CN116142814A - Method, system and controller for stockyard storage and transportation warehouse - Google Patents

Abstract

The application discloses a method, a system and a controller for stockyard storage and transportation. The method includes: respectively receiving the three-dimensional data of the stockpile before and after loading sent by the measuring device; determining the initial material volume according to the three-dimensional data of the stockpile before loading; determining the initial material volume according to the three-dimensional data of the stockpile after loading Target material volume; determine the difference between the target material volume and the initial material volume as the volume difference; obtain the weight of the stockpile before and after loading respectively; determine the weight according to the weight of the stockpile before and after loading difference; determine the bulk density ratio according to the volume difference and weight difference; determine the product of the bulk density ratio and the target material volume as the target material weight. In this application, the volume is obtained by three-dimensional measurement of the stockpile, and then the weight is determined according to the volume-to-weight ratio, so as to reduce manual operations and improve the accuracy and efficiency of inventory.

Description

Method, system and controller for stockyard storage and transportation warehouse

technical field

The present application relates to the technical field of construction machinery, and in particular to a method, system and controller for stockyard storage and transportation.

Background technique

Aggregates in concrete stations are generally stored in open-air or non-open-air storage yards, mainly including concrete raw materials such as stones and yellow sand, and the storage areas are separated by walls between various materials. Load different stack areas to form multiple stack areas. Accurate inventory of stockyards is an important part of enterprise cost control. Accurate control of material inventory is conducive to improving the utilization rate of raw materials, controlling raw material consumption, and rationally allocating space resources, which has a positive effect on economic benefits. At present, most enterprises still use the most primitive method when measuring, generally measuring and estimating manually with a tape measure. The existing warehouses in stockyards include manual measuring tape warehouses, manual handheld portable laser disk warehouses, etc. Manual or handheld scanning can only complete volume measurement, and the measurement error is large. In addition, manual measurement has the problems of time-consuming and complicated operation process; according to the empirical formula, the measured stockyard volume is multiplied by the average density to calculate the mass of the stockyard. The material density is affected by factors such as material, particle size, and water content, and changes greatly , which has a great influence on the accuracy of quality measurement results.

Contents of the invention

The purpose of the embodiment of the present application is to provide a method, system and controller for stockyard storage and transportation inventory, so as to solve the problem of low inventory accuracy in the prior art.

In order to achieve the above purpose, the first aspect of the present application provides a stockyard storage and transportation warehouse method, which is applied to the stockyard storage and transportation warehouse system. The system includes a controller and a measuring device, and the controller communicates with the measuring device. Methods include:

Respectively receive the three-dimensional data of the stockpile sent by the measuring device before and after loading;

Determine the initial material volume according to the three-dimensional data of the stockpile before loading;

Determine the target material volume according to the three-dimensional data of the material pile after loading;

Determine the difference between the target material volume and the initial material volume as the volume difference;

Obtain the weight of the stockpile before and after loading, respectively;

Determine the weight difference according to the weight of the stockpile before and after loading;

Determine the bulk density ratio according to the volume difference and weight difference;

The product of the volume-to-weight ratio and the target material volume is determined to determine the target material weight.

In the embodiment of this application, the volume-to-weight ratio satisfies the formula (1):

ρ=△M/△V; (1)

Among them, ρ is the bulk density ratio, ΔM is the weight difference, and ΔV is the volume difference.

In the embodiment of the present application, the measuring device includes a radar and a laser sensor, respectively receiving the three-dimensional data of the stockpile sent by the measuring device before and after loading includes:

Receive the two-dimensional coordinate sets of the first direction and the second direction of the stockpile sent by the radar respectively before and after the stockpile is loaded, and receive the one-dimensional coordinate set of the third direction of the stockpile sent by the laser sensor;

Combining two-dimensional coordinate sets and one-dimensional coordinate sets to obtain three-dimensional data of the stockpile before and after loading;

Wherein, the first direction is the direction of the width of the stockpile, the second direction is the direction of the depth of the stockpile, and the third direction is the direction of the length of the stockpile.

In the embodiment of the present application, the measuring device also includes a material distribution vehicle, the laser sensor is arranged on the material distribution vehicle, and the one-dimensional coordinate set of the third direction of the stock pile sent by the laser sensor includes:

Control the movement of the fabric vehicle;

Receive the one-dimensional coordinates of the material pile collected by the laser sensor at a preset period to obtain a one-dimensional coordinate set.

In the embodiment of the present application, the method also includes:

In the case of receiving the drawing instruction, control the cloth vehicle to run according to the preset track;

Obtain the three-dimensional data of the material field collected by the radar and laser sensors during the operation of the cloth vehicle according to the preset trajectory;

Build a map based on the 3D data of the stockyard to obtain a point cloud map of the stockyard.

In the embodiment of the present application, the method also includes:

In the case of receiving the stop command, control the cloth car to stop running.

The second aspect of the present application provides a controller, including:

a memory configured to store instructions; and

A processor configured to call instructions from the memory and to implement the method according to the above-mentioned stockyard pallet when executing the instructions.

The third aspect of the present application provides a stockyard storage and transportation system, including:

According to the above-mentioned controller;

A measurement device, in communication with the controller, is configured to acquire three-dimensional data of the stockpile and to send the three-dimensional data to the controller.

In the embodiment of this application, the measuring device includes:

The cloth cart, in communication with the controller, is configured to move according to the instructions of the controller;

The radar is arranged on the material distribution vehicle, communicates with the controller, and is configured to obtain a two-dimensional coordinate set of the first direction and a second direction of the material pile, and send the two-dimensional coordinate set to the controller;

The laser sensor is arranged on the material distribution vehicle, communicates with the controller, and is configured to obtain a one-dimensional coordinate set in the third direction of the material pile, and send the one-dimensional coordinate set to the controller.

The fourth aspect of the present application provides a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and the instructions are used to make a machine execute the above-mentioned method for stockyard storage and transportation.

Through the above technical scheme, respectively receive the three-dimensional data of the stockpile sent by the measuring device before and after loading; and determine the initial material volume according to the three-dimensional data of the stockpile before loading; according to the three-dimensional data of the stockpile after loading Determine the target material volume from the data; determine the difference between the target material volume and the initial material volume as the volume difference; obtain the weight of the stockpile before and after loading respectively; according to the weight of the stockpile before and after loading Determine the weight difference; then determine the volume ratio according to the volume difference and the weight difference; finally determine the product of the volume ratio and the target material volume as the target material weight. Through three-dimensional measurement of the stockpile to obtain the volume, and then determine the weight according to the volume-to-weight ratio, reduce manual operations, and improve the accuracy and efficiency of inventory.

Other features and advantages of the embodiments of the present application will be described in detail in the following detailed description.

Description of drawings

The accompanying drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the description, and are used together with the following specific implementation methods to explain the embodiments of the present application, but do not constitute limitations to the embodiments of the present application. In the attached picture:

Fig. 1 schematically shows a structure diagram of a stockyard storage and transportation warehouse system according to an embodiment of the present application;

Fig. 2 schematically shows a flow chart of a method for stockyard storage and transportation according to an embodiment of the present application;

Fig. 3 schematically shows a flow chart of a method for stockyard storage and transportation warehouse according to a specific embodiment of the present application;

Fig. 4 schematically shows a structural block diagram of a controller according to an embodiment of the present application.

Explanation of reference signs

101 Controller 102 Measuring device

103 cloth car 104 radar

105 laser sensor

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the The specific implementation manners described are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.

It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiment of the present application, the directional indications are only used to explain the position in a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be interpreted as indications or hints Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present application.

Fig. 1 schematically shows a structure diagram of a stockyard storage and transportation warehouse system according to an embodiment of the present application. As shown in FIG. 1 , the embodiment of the present application provides a stockyard storage and transportation system, which may include a controller 101 and a measuring device 102 . The measuring device 102 may include a cloth vehicle 103 , a radar 104 and a laser sensor 105 .

In the embodiment of the present application, the stockyard storage and transportation system includes a controller 101 and a measuring device 102 . Wherein, the measuring device 102 may include a cloth vehicle 103 , a radar 104 and a laser sensor 105 . The controller 101 communicates with the measurement device 102 . The measuring device 102 is configured to acquire three-dimensional data of the stockpile and send the three-dimensional data to the controller 101 . The controller 101 receives the three-dimensional data sent by the measuring device 102, and processes the data, so as to inventory the stock yard. The material distribution vehicle 103 is configured to move according to the instructions of the controller 101 . The radar 104 is arranged on the material distribution vehicle 103 and is configured to acquire the two-dimensional coordinate sets of the first direction and the second direction of the material pile, and send the two-dimensional coordinate sets to the controller 101 . The laser sensor 105 is arranged on the material distribution vehicle 103 and is configured to obtain a one-dimensional coordinate set in the third direction of the pile, and send the one-dimensional coordinate set to the controller 101 .

Fig. 2 schematically shows a flow chart of a method for storing and transporting an inventory in a stockyard according to an embodiment of the present application. As shown in Figure 2, the embodiment of the present application provides a method for stockyard storage and transportation. The embodiment of the present application mainly applies this control method to the controller 101 in the above-mentioned Figure 1, and the method may include the following steps:

Step 201, respectively receiving the three-dimensional data of the stockpile sent by the measuring device before and after loading;

Step 202, determining the initial material volume according to the three-dimensional data of the material pile before loading;

Step 203, determining the target material volume according to the three-dimensional data of the material pile after loading;

Step 204, determining the difference between the target material volume and the initial material volume as the volume difference;

Step 205, obtaining the weights of the stockpile before and after loading, respectively;

Step 206, determining the weight difference according to the weight of the pile before and after loading;

Step 207, determining the bulk density ratio according to the volume difference and the weight difference;

Step 208: Determine the product of the volume-to-weight ratio and the target material volume as the target material weight.

In the embodiment of the present application, the measurement device refers to a device used to obtain three-dimensional data of a stockpile. Measuring devices may include, but are not limited to, cloth carts, radar and laser sensors, and the like. The three-dimensional data refers to the data of the stockpile in three dimensions, and the three dimensions may include the stockpile width, the stockpile length, and the stockpile height. The initial material volume refers to the volume of the stockpile before loading. The target material volume refers to the volume of the material pile after loading, and also refers to the volume of the material to be obtained through the inventory. The volume-to-weight ratio refers to the weight of an object in a unit volume. The volume-to-weight ratio is determined by calculation, which can be used to determine the weight of the stockpile. The target material weight may refer to the material weight to be obtained through inventory.

The measuring device communicates with the controller, and the measuring device first obtains the three-dimensional data of the stockpile, that is, obtains the length, width and height data of the stockpile. Then send the three-dimensional data of the stockpile to the controller. The controller respectively receives the three-dimensional data of the stockpile before loading and the three-dimensional data after loading sent by the measuring device. And determine the initial material volume and the target material volume respectively according to the three-dimensional data before feeding and the three-dimensional data after feeding. That is, the initial material volume is determined according to the three-dimensional data before feeding, and the target material volume is determined according to the three-dimensional data after feeding. When determining the volume of materials based on three-dimensional data, methods such as point cloud algorithms can be used. When the measurement device acquires three-dimensional data, radar and laser sensors are required to work together. The two-dimensional coordinate set of the stockpile in the width and depth directions is obtained through the radar, and the one-dimensional coordinate set of the stockpile in the length direction is obtained through the laser sensor. By combining the one-dimensional coordinate set and the two-dimensional coordinate set, the three-dimensional data of the stockpile can be obtained. By determining the volume of the material according to the three-dimensional data obtained by the measuring device, manual operations can be reduced and the accuracy of measurement can be improved.

After obtaining the initial material volume and the target material volume, the controller makes a difference between the target material volume and the initial material volume to obtain the volume difference. The controller obtains the weight of the stockpile before loading and the weight after loading respectively. And make the difference between the weight of the pile after loading and the weight before loading to get the weight difference. In turn, volume differences and weight differences satisfying the same conditions can be determined. By obtaining the volume difference and weight difference, it can be used to determine the volume-to-weight ratio.

After the volume difference and weight difference of the stockpile are obtained, the bulk density ratio is determined according to the volume difference and weight difference of the stockpile. The volume-to-weight ratio satisfies the formula ρ=△M/△V, where ρ is the volume-to-weight ratio, △M is the weight difference, and △V is the volume difference. By determining the volume-to-weight ratio, it can be used to determine the weight of different volumes of stockpiles of different batches. For example, in a feeding process, after the target material volume is determined according to the three-dimensional data, the target material weight can be determined by multiplying the target material volume and the volume-to-weight ratio. Before feeding, the batch of materials can be weighed to determine the actual weighed weight, so as to judge whether there is an error between the target material weight determined by the volume-to-weight ratio and the actual weighed weight. When there is an error, the volume-to-weight ratio needs to be corrected. By determining the target material weight according to the volume-to-weight ratio, it is more accurate than the method of multiplying the volume by the average density in the prior art.

Through the above technical scheme, respectively receive the three-dimensional data of the stockpile sent by the measuring device before and after loading; and determine the initial material volume according to the three-dimensional data of the stockpile before loading; according to the three-dimensional data of the stockpile after loading Determine the target material volume from the data; determine the difference between the target material volume and the initial material volume as the volume difference; obtain the weight of the stockpile before and after loading respectively; according to the weight of the stockpile before and after loading Determine the weight difference; then determine the volume ratio according to the volume difference and the weight difference; finally determine the product of the volume ratio and the target material volume as the target material weight. Through three-dimensional measurement of the stockpile to obtain the volume, and then determine the weight according to the volume-to-weight ratio, reduce manual operations, and improve the accuracy and efficiency of inventory.

In the embodiment of this application, the volume-to-weight ratio satisfies the formula (1):

ρ=△M/△V; (1)

Among them, ρ is the bulk density ratio, ΔM is the weight difference, and ΔV is the volume difference.

Specifically, the volume-to-weight ratio satisfies the formula ρ=ΔM/ΔV. Among them, ρ is the bulk density ratio, ΔM is the weight difference, and ΔV is the volume difference. The weight difference is obtained by making the difference between the weight of the pile after feeding and the weight before feeding. When determining the volume difference, the three-dimensional data of the stockpile before loading and the three-dimensional data after loading can be obtained through the measuring device, and the initial material volume and target can be determined according to the three-dimensional data before and after loading respectively The material volume is obtained by taking the difference between the target material volume and the initial material volume. By determining the volume-to-weight ratio, it can be used to determine the weight of different volumes of stockpiles of different batches.

In the embodiment of the present application, the measuring device includes a radar and a laser sensor, respectively receiving the three-dimensional data of the stockpile sent by the measuring device before and after loading includes:

Receive the two-dimensional coordinate sets of the first direction and the second direction of the stockpile sent by the radar respectively before and after the stockpile is loaded, and receive the one-dimensional coordinate set of the third direction of the stockpile sent by the laser sensor;

Combining two-dimensional coordinate sets and one-dimensional coordinate sets to obtain three-dimensional data of the stockpile before and after loading;

Wherein, the first direction is the direction of the width of the stockpile, the second direction is the direction of the depth of the stockpile, and the third direction is the direction of the length of the stockpile.

In particular, the measuring devices may include radar and laser sensors. The radar is used to measure the two-dimensional coordinate set of the pile in the first direction and the second direction, and the laser sensor is used to measure the one-dimensional coordinate set of the pile in the third method. Wherein, the first direction refers to the direction along the width of the stockpile, and the second direction refers to the direction along the depth of the stockpile, that is, the height of the stockpile. A third direction refers to a direction along the length of the pile. The radar can determine the distance from the radar to the stockpile by sending signals, that is, the distance along the width direction of the material pair; at the same time, because the cloth truck is suspended above the stockpile, the depth of the stockpile can be determined by sending signals downward, that is, along the direction of the stockpile. The distance in the depth direction. The laser sensor is set on the material distribution vehicle and moves together with the material distribution vehicle. After the movement, the laser sensor can determine the distance from the laser sensor to the origin by emitting laser light, that is, the distance along the length of the pile. Among them, the origin is the starting point of the cloth car movement. Radar can include millimeter-wave radar and lidar. Millimeter wave radar has the characteristics of fast real-time performance and can be used to measure the height of material level. LiDAR can be used to measure the width of the material level. The controller can respectively receive the two-dimensional coordinate sets along the width direction and the depth direction of the material pile before and after material loading, and the one-dimensional coordinate set along the length direction, and then carry out the two-dimensional coordinate set and the one-dimensional coordinate set Combined to obtain the three-dimensional data of the stockpile before loading and the three-dimensional data after loading. By using radar and laser sensors for joint measurement, automatic measurement of data in three directions of the stockpile can be realized, manual operations can be reduced, and measurement accuracy can be improved.

In the embodiment of the present application, the measuring device also includes a material distribution vehicle, the laser sensor is arranged on the material distribution vehicle, and the one-dimensional coordinate set of the third direction of the stock pile sent by the laser sensor includes:

Control the movement of the fabric vehicle;

Receive the one-dimensional coordinates of the material pile collected by the laser sensor at a preset period to obtain a one-dimensional coordinate set.

Specifically, the measuring device may also include a material distribution vehicle, which is composed of a vehicle frame, a hopper, a vibration, a shock absorbing spring, a traveling mechanism, a buckle lifting mechanism, and an electrical system, and is a device for unloading. Both the laser sensor and the radar are set on the fabric vehicle and fixed according to their relative positions. When the controller issues a control command, the controller will control the cloth trolley to move, and the laser sensor will also follow the cloth trolley to move. Taking the starting position of the distribution vehicle as the origin, the laser sensor can measure the distance from the position of the distribution vehicle to the origin after moving, that is, the one-dimensional coordinates along the third direction. Data collection along the length of the pile can be achieved through the joint movement of the distribution vehicle and the laser sensor.

In the embodiment of the present application, the method may also include:

In the case of receiving the drawing instruction, control the cloth vehicle to run according to the preset track;

Obtain the three-dimensional data of the material field collected by the radar and laser sensors during the operation of the cloth vehicle according to the preset trajectory;

Build a map based on the 3D data of the stockyard to obtain a point cloud map of the stockyard.

Specifically, a point cloud image refers to a data matrix composed of point cloud information. During the data collection process of the measuring device, the environment of the stockyard can be mapped to obtain the material situation of the stockyard. When receiving the command to start real-time mapping, the cloth vehicle can be controlled to run according to the preset trajectory. The preset track refers to the running track of the pre-set cloth cart. For example, the preset trajectory can run along the stockyard for one week. And during the operation of the material distribution vehicle, the radar and laser sensors collect the three-dimensional data of the stockyard in real time, collect the data of each point of the stockyard, and finally record the data in the form of a point cloud map to obtain the point cloud map of the stockyard. By building a real-time map of the stockyard, the material condition information of the stockyard at this time can be obtained in real time.

In the embodiment of the present application, the method may also include:

In the case of receiving the stop command, the controlled distributing vehicle stops running.

Specifically, when the distribution vehicle completes its operation according to the preset trajectory and returns to the original point, that is, the distribution vehicle has completed running for one week. The controller sends a stop command to control the cloth cart to stop running. At this point, the data collection of the stockpile by the measuring device has been completed. Cloth cart can stop motion.

Through the above technical scheme, respectively receive the three-dimensional data of the stockpile sent by the measuring device before and after loading; and determine the initial material volume according to the three-dimensional data of the stockpile before loading; according to the three-dimensional data of the stockpile after loading Determine the target material volume from the data; determine the difference between the target material volume and the initial material volume as the volume difference; obtain the weight of the stockpile before and after loading respectively; according to the weight of the stockpile before and after loading Determine the weight difference; then determine the volume ratio according to the volume difference and the weight difference; finally determine the product of the volume ratio and the target material volume as the target material weight. Through three-dimensional measurement of the stockpile to obtain the volume, and then determine the weight according to the volume-to-weight ratio, reduce manual operations, and improve the accuracy and efficiency of inventory.

Fig. 3 schematically shows a flow chart of a method for storing and transporting an inventory in a stockyard according to a specific embodiment of the present application. As shown in FIG. 3 , a specific embodiment of the present application provides a method for stockyard storage and transportation, and the method may include the following steps:

S1. Map system tasks;

S2, scan type parameter determination;

S3, equipment status check;

S4. Determine whether to build a map, if yes, go to S5, if not, return to S3;

S5, enabling positioning communication;

S6, ready data collection;

S7, single-point laser ranging calculation;

S8, positioning of the cloth car body;

S9, data collection;

S10, map update;

S11, map data calculation and processing, return to S1;

S12, judging whether a stop instruction is received, if so, proceed to S13, if not, return to S9;

S13, the data collection is completed.

Specifically, first, the management system determines the job tasks of the map system, then determines the parameters of the scan type, and then checks the status of the equipment. When the device status is normal, judge whether to start real-time mapping. Mapping the material yard needs to be constructed according to the collected data during the data collection process. Therefore, it is necessary to judge whether real-time mapping is enabled, and then control the cloth vehicle to start moving when real-time mapping is enabled. Continue to check the device status without starting real-time mapping. When real-time mapping has started, the positioning communication module is turned on and ready for data collection. At the same time, the positioning of the cloth vehicle body is performed through single-point laser ranging calculation. By opening the positioning communication module, the real-time positioning of the distribution vehicle can be realized, and the distance from the distribution vehicle to the origin can be obtained through single-point laser ranging. Among them, the origin refers to the starting position of the cloth car movement. When the preparations are complete, start data collection. During data collection, the map is updated in real time. Because after the stockyard data is collected, when the material condition information in the stockyard changes, the map of the stockyard will also be updated in real time. And after processing the data, return to the map system operation task determination step to determine whether the task needs to be changed according to the updated data and map. When the stop command is received, it means that the data acquisition has been completed at this time. When no stop instruction is received, data collection continues. By building a map of the stockyard, the information of the stock situation in the stockyard can be obtained. And by collecting data in real time and updating the map, real-time update and acquisition of material condition information can be realized.

Fig. 4 schematically shows a structural block diagram of a controller according to an embodiment of the present application. As shown in Figure 4, the embodiment of the present application provides a controller, which may include:

memory 410 configured to store instructions; and

The processor 420 is configured to call instructions from the memory 410 and to implement the above-mentioned method of stockyard storage and transportation warehouse when executing the instructions.

Specifically, in this embodiment of the application, the processor 420 may be configured to:

Respectively receive the three-dimensional data of the stockpile sent by the measuring device before and after loading;

Determine the initial material volume according to the three-dimensional data of the stockpile before loading;

Determine the target material volume according to the three-dimensional data of the material pile after loading;

Determine the difference between the target material volume and the initial material volume as the volume difference;

Obtain the weight of the stockpile before and after loading, respectively;

Determine the weight difference according to the weight of the stockpile before and after loading;

Determine the bulk density ratio according to the volume difference and weight difference;

The product of the volume-to-weight ratio and the target material volume is determined to determine the target material weight.

In the embodiment of this application, the volume-to-weight ratio satisfies the formula (1):

ρ=△M/△V; (1)

Among them, ρ is the bulk density ratio, ΔM is the weight difference, and ΔV is the volume difference.

Further, the processor 420 may also be configured to:

The measuring device includes radar and laser sensors, respectively receiving the three-dimensional data of the stockpile sent by the measuring device before and after loading includes:

Receive the two-dimensional coordinate sets of the first direction and the second direction of the stockpile sent by the radar respectively before and after the stockpile is loaded, and receive the one-dimensional coordinate set of the third direction of the stockpile sent by the laser sensor;

Combining two-dimensional coordinate sets and one-dimensional coordinate sets to obtain three-dimensional data of the stockpile before and after loading;

Wherein, the first direction is the direction of the width of the stockpile, the second direction is the direction of the depth of the stockpile, and the third direction is the direction of the length of the stockpile.

Further, the processor 420 may also be configured to:

The measuring device also includes a material distribution vehicle. The laser sensor is arranged on the material distribution vehicle, and the one-dimensional coordinate set of the third direction of the material pile sent by the laser sensor includes:

Control the movement of the fabric vehicle;

Receive the one-dimensional coordinates of the material pile collected by the laser sensor at a preset period to obtain a one-dimensional coordinate set.

Further, the processor 420 may also be configured to:

In the case of receiving the drawing instruction, control the cloth vehicle to run according to the preset track;

Obtain the three-dimensional data of the material field collected by the radar and laser sensors during the operation of the cloth vehicle according to the preset trajectory;

Build a map based on the 3D data of the stockyard to obtain a point cloud map of the stockyard.

Further, the processor 420 may also be configured to:

In the case of receiving the stop command, control the cloth car to stop running.

Through the above technical scheme, respectively receive the three-dimensional data of the stockpile sent by the measuring device before and after loading; and determine the initial material volume according to the three-dimensional data of the stockpile before loading; according to the three-dimensional data of the stockpile after loading Determine the target material volume from the data; determine the difference between the target material volume and the initial material volume as the volume difference; obtain the weight of the stockpile before and after loading respectively; according to the weight of the stockpile before and after loading Determine the weight difference; then determine the volume ratio according to the volume difference and the weight difference; finally determine the product of the volume ratio and the target material volume as the target material weight. Through three-dimensional measurement of the stockpile to obtain the volume, and then determine the weight according to the volume-to-weight ratio, reduce manual operations, and improve the accuracy and efficiency of inventory.

As shown in Figure 1, the embodiment of the present application provides a stockyard storage and transportation system, which may include:

The aforementioned controller 101;

The measuring device 102 , in communication with the controller 101 , is configured to acquire three-dimensional data of the stockpile and send the three-dimensional data to the controller 101 .

Specifically, the stockyard storage and transportation system may include a controller 101 and a measuring device 102 , and the controller 101 communicates with the measuring device 102 . The measuring device 102 is configured to acquire three-dimensional data of the stockpile and send the three-dimensional data to the controller 101 . The controller 101 receives the three-dimensional data sent by the measuring device 102, and processes the three-dimensional data to obtain the volume of the pile. The controller 101 acquires the weight of the pile before and after loading at the same time, and determines the bulk density ratio according to the weight and volume. So as to determine the weight of the stockpile, and then realize the inventory storage and transportation of the stockyard.

In the embodiment of the present application, the measuring device 102 may include:

The distribution vehicle 103 communicates with the controller 101 and is configured to move according to the instructions of the controller 101;

The radar 104 is arranged on the material distribution vehicle 103, communicates with the controller 101, and is configured to obtain the two-dimensional coordinate set of the first direction and the second direction of the pile, and send the two-dimensional coordinate set to the controller 101;

The laser sensor 105 is arranged on the material distribution vehicle 103 , communicates with the controller 101 , and is configured to acquire a one-dimensional coordinate set in the third direction of the pile, and send the one-dimensional coordinate set to the controller 101 .

Specifically, the measuring device 102 may include a cloth vehicle 103 , a radar 104 and a laser sensor 105 . The material distribution vehicle 103 is configured to move according to the instructions of the controller 101 . The radar 104 is arranged on the material distribution vehicle 103 and is configured to acquire the two-dimensional coordinate sets of the first direction and the second direction of the material pile, and send the two-dimensional coordinate sets to the controller 101 . The laser sensor 105 is arranged on the material distribution vehicle 103 and is configured to obtain a one-dimensional coordinate set in the third direction of the pile, and send the one-dimensional coordinate set to the controller 101 . After receiving the instruction sent by the controller 101 , the material distribution vehicle 103 starts to move, and the radar 104 and the laser sensor 105 also move along with the material distribution vehicle 103 . During the movement, the radar 104 and the laser sensor 105 start to collect three-dimensional data of the pile. And after the three-dimensional data is collected, the three-dimensional data is sent to the controller 101 to realize processing on the three-dimensional data. Through the joint collection of the material distribution vehicle 103, the radar 104 and the laser sensor 105, the automatic collection of material matching data can be realized, manual operations can be reduced, and the accuracy of data collection can be improved.

The embodiment of the present application also provides a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and the instructions are used to make a machine execute the above-mentioned method for stockyard storage and transportation.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read only memory (ROM) or flash RAM. The memory is an example of a computer readable medium.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

The above are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may occur in this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims (10)

1. A method for stockyard storage and transportation warehouse, characterized in that it is applied to the system of stockyard storage and transportation warehouse, the system includes a controller and a measuring device, the controller communicates with the measuring device, and the The methods described include: Respectively receive the three-dimensional data of the stockpile sent by the measuring device before and after loading; Determining the initial material volume according to the three-dimensional data of the stockpile before feeding; determining the target material volume according to the three-dimensional data of the material pile after loading; determining the difference between the target material volume and the initial material volume as a volume difference; Respectively obtain the weight of the stockpile before and after feeding; Determine the weight difference according to the weight of the stockpile before and after feeding; determining a volume-to-weight ratio according to the volume difference and the weight difference; The product of the volume-to-weight ratio and the target material volume is determined as the target material weight. 2. method according to claim 1, is characterized in that, described volume-to-weight ratio satisfies formula (1): ρ=△M/△V; (1) Among them, ρ is the bulk density ratio, ΔM is the weight difference, and ΔV is the volume difference. 3. The method according to claim 1, wherein the measuring device comprises a radar and a laser sensor, and the receiving of the three-dimensional data of the stockpile sent by the measuring device respectively before and after loading comprises: Receiving the two-dimensional coordinate sets of the first direction and the second direction of the material pile sent by the radar respectively before and after loading the material pile, and receiving the coordinates of the material pile sent by the laser sensor A set of one-dimensional coordinates in the third direction; combining the two-dimensional coordinate set and the one-dimensional coordinate set to obtain three-dimensional data of the stockpile before and after loading; Wherein, the first direction is the direction of the width of the stockpile, the second direction is the direction of the depth of the stockpile, and the third direction is the direction of the length of the stockpile. 4. The method according to claim 3, characterized in that, the measuring device further comprises a material distribution vehicle, the laser sensor is arranged on the material distribution vehicle, and the information of the stockpile sent by the laser sensor is received The one-dimensional coordinate set of the third direction includes: Controlling the movement of the cloth cart; The one-dimensional coordinates of the pile collected by the laser sensor are received at a preset period to obtain the one-dimensional coordinate set. 5. method according to claim 4, is characterized in that, described method also comprises: In the case of receiving the drawing instruction, control the cloth vehicle to run according to the preset track; Acquiring the three-dimensional data of the material field collected by the radar and the laser sensor during the operation of the material distribution vehicle according to the preset trajectory; Mapping is carried out according to the three-dimensional data of the stockyard to obtain a point cloud map of the stockyard. 6. The method according to claim 5, further comprising: In the case of receiving the stop instruction, control the distributing vehicle to stop running. 7. A controller, characterized in that, comprising: a memory configured to store instructions; and A processor configured to call the instructions from the memory and implement the stockyard storage and handling method according to any one of claims 1 to 6 when executing the instructions. 8. A stockyard storage and transportation system, characterized in that it comprises: A controller according to claim 7; A measuring device, in communication with the controller, is configured to acquire three-dimensional data of the stockpile and to send the three-dimensional data to the controller. 9. The system of claim 8, wherein the measuring device comprises: a cloth vehicle, in communication with the controller, configured to move according to instructions from the controller; The radar is set on the material distribution vehicle, communicates with the controller, and is configured to obtain a two-dimensional coordinate set of the first direction and a second direction of the material pile, and send the two-dimensional coordinate set to the the controller; The laser sensor is arranged on the material distribution vehicle, communicates with the controller, and is configured to obtain a one-dimensional coordinate set in the third direction of the material pile, and send the one-dimensional coordinate set to the controller . 10. A machine-readable storage medium, characterized in that instructions are stored on the machine-readable storage medium, and the instructions are used to make a machine execute the stockyard storage and transportation tray according to any one of claims 1 to 6 method of the library.

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