The invention relates to the technical field of forklift dispatching, in particular to a transportation forklift intelligent collaborative dispatching method and system for warehouse management. Firstly, by calculating the deviation angle between the centroid of the tray and the centroid of the object, the deviation condition of the tray and the object is detected in real time, early warning of the cargo dumping risk is achieved, and the safety of the transportation process is greatly improved; secondly, a constraint function is constructed in combination with the toppling risk index and the forklift operation state, a genetic algorithm is adopted for optimization, key parameters such as the operation speed, the acceleration, the steering speed and the steering radius of the forklift are comprehensively considered, and therefore overall optimization of the operation state of the individual forklift is achieved, and the transportation efficiency is remarkably improved; and finally, global optimal scheduling is realized in dynamic task allocation and path planning by utilizing an individual forklift optimal path and a distributed optimization algorithm, path conflicts and resource waste are reduced to the greatest extent, and the high efficiency and reliability of the system are further ensured.
本发明涉及叉车调度技术领域,具体为一种面向仓储管理的运输叉车智慧协同调度方法及系统。首先,本发明通过计算托盘形心和物体形心之间的偏移角,实时检测托盘与物体的偏移情况,实现货物倾倒风险的提前预警,大幅提升运输过程的安全性;其次,本发明结合倾倒风险指数和叉车运行状态,构建约束函数并采用遗传算法进行优化,全面考虑叉车的运行速度、加速度、转向速度和转向半径等关键参数,从而实现个体叉车运行状态的全局优化,显著提高运输效率;最后,本发明利用个体叉车最优路径和分布式优化算法,在动态任务分配与路径规划中实现全局最优调度,最大限度减少路径冲突和资源浪费,进一步确保系统的高效性和可靠性。
Warehouse management-oriented transportation forklift intelligent collaborative scheduling method and system
一种面向仓储管理的运输叉车智慧协同调度方法及系统
2025-03-28
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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