CN114783163A - Early warning method and device for goods falling, storage medium and electronic equipment - Google Patents
Early warning method and device for goods falling, storage medium and electronic equipment Download PDFInfo
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- CN114783163A CN114783163A CN202210683575.2A CN202210683575A CN114783163A CN 114783163 A CN114783163 A CN 114783163A CN 202210683575 A CN202210683575 A CN 202210683575A CN 114783163 A CN114783163 A CN 114783163A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/08—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using communication transmission lines
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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Abstract
The invention discloses a method and a device for early warning of cargo falling, a storage medium and electronic equipment, wherein the method comprises the following steps: the method comprises the steps that angle parameters of a stereoscopic warehouse are obtained based on a millimeter wave receiver, target goods are stored in the stereoscopic warehouse, the millimeter wave receiver is connected with a plurality of millimeter wave transmitters distributed on the stereoscopic warehouse, the millimeter wave transmitters are connected with an inclination angle sensor and used for transmitting sensing data of the current time to the millimeter wave receiver when the sensing data of the inclination angle sensor change, and the inclination angle sensor is used for sensing the angle parameters of the current space in real time; calculating the inclination state parameter of the target cargo according to the angle parameter; and generating an early warning signal of the target cargo based on the inclination state parameter. According to the invention, the technical problem of low efficiency of early three-dimensional warehouse goods falling early warning in the related art is solved, the early warning efficiency of goods falling is improved, and the safety of warehouse operation is ensured.
Description
Technical Field
The invention relates to the field of computers, in particular to a method and a device for early warning of cargo falling, a storage medium and electronic equipment.
Background
In the related art, as the storage mode of various goods in a metal processing enterprise is gradually changed from a ground mode to a more intelligent stereoscopic warehouse for storage, not only space is saved, but also the goods can be intelligently put in and taken out of the warehouse, however, the weight of the goods such as a plurality of metal processing molds exceeds 500kg, even a few goods exceed 1 ton, and a greater challenge is brought to the safety of the stereoscopic warehouse. How to ensure that the mould does not fall due to any factor and the shelf of the three-dimensional warehouse collapses and can send early warning in advance to inform relevant personnel when the mould is about to collapse is a very important safety production problem.
In the related technology, inspection is mainly performed by security personnel or monitoring is performed by a camera, but the security personnel and the camera generally can only discover afterwards and cannot early warn in time or in advance, and the potential safety hazard cannot be completely solved.
In view of the above problems in the related art, no effective solution has been found at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for early warning of cargo falling, a storage medium and electronic equipment.
According to an aspect of an embodiment of the present application, there is provided a method for early warning of cargo degeneration, including: the method comprises the steps that angle parameters of a stereoscopic warehouse are obtained based on a millimeter wave receiver, target goods are stored in the stereoscopic warehouse, the millimeter wave receiver is connected with a plurality of millimeter wave transmitters distributed on the stereoscopic warehouse, the millimeter wave transmitters are connected with an inclination angle sensor and used for transmitting sensing data of the current time to the millimeter wave receiver when the sensing data of the inclination angle sensor change, and the inclination angle sensor is used for sensing the angle parameters of the current space in real time; calculating the inclination state parameter of the target cargo according to the angle parameter; and generating an early warning signal for the falling of the target cargo based on the inclination state parameter.
Further, acquiring the angle parameter of the stereoscopic warehouse based on the millimeter wave receiver comprises: receiving a first angle parameter of a first inclination angle sensor transmitted by a first millimeter wave transmitter, a second angle parameter of a second inclination angle sensor transmitted by a second millimeter wave transmitter and a third angle parameter of a third inclination angle sensor transmitted by a third millimeter wave transmitter based on a millimeter wave receiver; the first millimeter wave emitter and the first inclination angle sensor are mounted on a shelf grid of the stereoscopic warehouse in a binding manner, the second millimeter wave emitter and the second inclination angle sensor are mounted on a stacker of the stereoscopic warehouse in a binding manner, and the third millimeter wave emitter and the third inclination angle sensor are mounted on a stand column of the stereoscopic warehouse in a binding manner.
Further, calculating the tilt state parameter of the target cargo according to the angle parameter includes: analyzing the first angle parameter to obtain a first inclination angle, analyzing the second angle parameter to obtain a second inclination angle, and analyzing the third angle parameter to obtain a third inclination angle; determining a first height of the first tilt sensor, determining a second height of the second tilt sensor, and determining a third height of the third tilt sensor; sorting the first inclination angle, the second inclination angle and the third inclination angle to generate a first queue; sequencing the first height, the second height and the third height to generate a second queue; and calculating the tilt state parameter of the target cargo according to the first queue and the second queue.
Further, calculating the tilt state parameter of the target cargo according to the first queue and the second queue comprises: synchronously fetching, in order, each pair of elements in the first queue and the second queue, wherein each pair of elements comprises a tilt angle in the first queue and a height value in the second queue; judging whether the inclination angle sensors corresponding to each pair of elements are the same or not; if the inclination angle sensors corresponding to each pair of elements are the same, selecting a first target inclination angle with the largest angle in the first queue, and determining the first target inclination angle as the inclination angle of the target cargo; and if the inclination angle sensors corresponding to any pair of elements are different, the first inclination angle, the second inclination angle and the third inclination angle are used for accumulating and summing to obtain a second target inclination angle, and the second target inclination angle is determined as the inclination angle of the target cargo.
Further, the angle parameters include a fourth inclination angle at a first time and a fifth inclination angle at a second time, which are acquired by the millimeter wave receiver, and the calculating the inclination state parameter of the target cargo according to the angle parameters includes: comparing the fourth tilt angle and the fifth tilt angle, wherein the second time is after the first time; if the fifth inclination angle is larger than the fourth inclination angle, determining that the target cargo is in a continuous falling state; if the fifth inclination angle is equal to the fourth inclination angle, determining that the target cargo is in a hovering state; and if the fifth inclination angle is smaller than the fourth inclination angle, determining that the target cargo is in a shaking state.
Further, generating an abort warning signal of the target cargo based on the tilt state parameter includes: calculating the inclination direction and the inclination speed of the target cargo according to the inclination state parameters; calculating a horizontal falling position of the target cargo based on the tilt direction, and calculating a landing time of the target cargo based on the tilt speed; and generating an abort early warning signal of the target cargo by adopting the abort position and the abort time.
Further, after generating an abort warning signal of the target cargo by using the abort location and the time to ground, the method further includes: searching a first alarm around the falling position in the space of the stereoscopic warehouse, and positioning a second alarm around the security terminal; and sending the abortion early warning signal to the security terminal, and controlling the first alarm and the second alarm to output an acousto-optic early warning signal.
According to another aspect of the embodiments of the present application, there is also provided a warning device for the degeneration of goods, including: the system comprises an acquisition module, a storage module and an inclination angle sensor, wherein the acquisition module is used for acquiring angle parameters of a stereoscopic warehouse based on a millimeter wave receiver, target goods are stored in the stereoscopic warehouse, the millimeter wave receiver is connected with a plurality of millimeter wave transmitters distributed on the stereoscopic warehouse, the millimeter wave transmitters are connected with the inclination angle sensor and used for transmitting sensing data of the current time to the millimeter wave receiver when the sensing data of the inclination angle sensor change, and the inclination angle sensor is used for sensing the angle parameters of the current space in real time; the calculation module is used for calculating the inclination state parameter of the target cargo according to the angle parameter; and the generating module is used for generating an early warning signal of the target cargo based on the inclination state parameter.
Further, the obtaining module includes: the first receiving unit is used for receiving a first angle parameter of a first inclination angle sensor transmitted by a first millimeter wave transmitter, receiving a second angle parameter of a second inclination angle sensor transmitted by a second millimeter wave transmitter and receiving a third angle parameter of a third inclination angle sensor transmitted by a third millimeter wave transmitter based on a millimeter wave receiver; the first millimeter wave emitter and the first inclination angle sensor are installed on a shelf grid of the stereoscopic warehouse in a binding manner, the second millimeter wave emitter and the second inclination angle sensor are installed on a stacker of the stereoscopic warehouse in a binding manner, and the third millimeter wave emitter and the third inclination angle sensor are installed on an upright post of the stereoscopic warehouse in a binding manner.
Further, the calculation module includes: the processing unit is used for analyzing the first angle parameter to obtain a first inclination angle, analyzing the second angle parameter to obtain a second inclination angle, and analyzing the third angle parameter to obtain a third inclination angle; determining a first height of the first tilt sensor, determining a second height of the second tilt sensor, and determining a third height of the third tilt sensor; the sorting unit is used for sorting the first inclination angle, the second inclination angle and the third inclination angle to generate a first queue; sequencing the first height, the second height and the third height to generate a second queue; and the calculating unit is used for calculating the tilt state parameter of the target cargo according to the first queue and the second queue.
Further, the calculation unit includes: an extraction subunit configured to synchronously extract, in order, each pair of elements in the first queue and the second queue, wherein each pair of elements includes a tilt angle in the first queue and a height value in the second queue; a judging subunit, configured to judge whether the tilt sensors corresponding to each pair of elements are the same; a calculating subunit, configured to select, if the tilt sensors corresponding to each pair of elements are the same, a first target tilt angle with a largest angle in the first queue, and determine the first target tilt angle as a tilt angle of the target cargo; and if the inclination angle sensors corresponding to any pair of elements are different, the first inclination angle, the second inclination angle and the third inclination angle are used for accumulating and summing to obtain a second target inclination angle, and the second target inclination angle is determined as the inclination angle of the target cargo.
Further, the angle parameters include a fourth tilt angle at a first time and a fifth tilt angle at a second time acquired by the millimeter wave receiver, and the calculation module includes: a comparison unit for comparing the fourth tilt angle and the fifth tilt angle, wherein the second time is after the first time; the determining unit is used for determining that the target cargo is in a continuous falling state if the fifth inclination angle is larger than the fourth inclination angle; if the fifth inclination angle is equal to the fourth inclination angle, determining that the target cargo is in a hovering state; and if the fifth inclination angle is smaller than the fourth inclination angle, determining that the target cargo is in a shaking state.
Further, the generating module includes: a first calculating unit, configured to calculate a tilt direction and a tilt speed of the target cargo according to the tilt state parameter; a second calculating unit, configured to calculate a horizontal drop position of the target cargo based on the tilt direction, and calculate a landing time of the target cargo based on the tilt speed; and the generation unit is used for generating the falling early warning signal of the target cargo by adopting the falling position and the falling time.
Further, the apparatus further comprises: the searching unit is used for searching a first alarm around the falling position and positioning a second alarm around a security terminal in a space where the stereoscopic warehouse is located after the generating unit generates the falling early warning signal of the target goods by adopting the falling position and the falling time; and the sending unit is used for sending the falling early warning signal to the security terminal and controlling the first alarm and the second alarm to output an acousto-optic early warning signal.
According to another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program which performs the above steps when the program is executed.
According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus; wherein: a memory for storing a computer program; a processor for executing the steps of the method by running the program stored in the memory.
Embodiments of the present application also provide a computer program product containing instructions, which when run on a computer, cause the computer to perform the steps of the above method.
According to the invention, the angle parameter of the stereoscopic warehouse is acquired based on the millimeter wave receiver, the inclined state parameter of the target cargo is calculated according to the angle parameter, the falling early warning signal of the target cargo is generated based on the inclined state parameter, the technical problem of low efficiency of early stereoscopic warehouse cargo falling early warning in the related art is solved by acquiring the angle parameter of the stereoscopic warehouse, calculating the inclined state parameter of the target cargo and generating the falling early warning signal of the target cargo based on the inclined state parameter, the early warning efficiency of falling of the cargo is improved, and the safety of warehouse operation is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a block diagram of a hardware configuration of a computer according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for early warning of cargo degeneration according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the placement of hardware on a stereoscopic warehouse in an embodiment of the invention;
fig. 4 is a block diagram illustrating a configuration of a device for early warning of cargo degeneration according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
The method provided by the first embodiment of the present application may be executed in a server, a computer, an industrial console, or a similar computing device. Taking an example of the present invention running on a computer, fig. 1 is a block diagram of a hardware structure of a computer according to an embodiment of the present invention. As shown in fig. 1, computer 10 may include one or more (only one shown in fig. 1) processors 102 (processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the configuration shown in FIG. 1 is merely illustrative and is not intended to limit the configuration of the computer described above. For example, computer 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of an application, such as a computer program corresponding to a method for warning of cargo degradation in an embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the computer 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of such networks may include wireless networks provided by the communications provider of computer 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In this embodiment, a method for early warning of the degeneration of goods is provided, and fig. 2 is a flowchart of a method for early warning of the degeneration of goods according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, acquiring angle parameters of a stereoscopic warehouse based on a millimeter wave receiver, wherein target goods are stored in the stereoscopic warehouse, the millimeter wave receiver is connected with a plurality of millimeter wave transmitters distributed on the stereoscopic warehouse, the millimeter wave transmitters are connected with an inclination angle sensor and used for transmitting sensing data of the current time to the millimeter wave receiver when the sensing data of the inclination angle sensor change, and the inclination angle sensor is used for sensing the angle parameters of the current space in real time;
the millimeter wave emitter and the tilt sensor in the embodiment can be integrated into a module, and can be flexibly installed at the designated position of the stereoscopic warehouse. One or more tilt sensors may be provided for each monitored cargo to monitor the angular parameters of the cargo at different locations. The millimeter wave transmitter and the inclination angle sensor have the characteristic of high speed, and can transmit the real-time angle parameters of the stereoscopic warehouse to the millimeter wave receiver. The angle parameter of this embodiment may be an angle parameter of the whole stereoscopic warehouse, or an angle parameter of a certain component at a certain position in the stereoscopic warehouse.
Step S204, calculating the inclination state parameter of the target cargo according to the angle parameter;
optionally, the tilt state parameters of the target cargo include a current tilt angle and a tilt state of the target cargo, and other parameters used for characterizing a falling state of the target cargo.
And step S206, generating an early warning signal for the falling of the target cargo based on the inclined state parameter.
Optionally, after the fall early warning signal of the target goods is generated, the fall early warning signal can be sent to a designated user terminal and an early warning device, so that a user can be timely notified or notified in advance when the goods fall, warehouse operating personnel can timely adjust goods to be placed, and nearby operating personnel can be evacuated.
Through the steps, the angle parameter of the stereoscopic warehouse is obtained based on the millimeter wave receiver, the inclined state parameter of the target cargo is calculated according to the angle parameter, the falling early warning signal of the target cargo is generated based on the inclined state parameter, the angle parameter of the stereoscopic warehouse is obtained, the inclined state parameter of the target cargo is calculated, the falling early warning signal of the target cargo is generated based on the inclined state parameter, the technical problem that the efficiency of early warning of falling of the cargo in the stereoscopic warehouse in the related art is low is solved, the early warning efficiency of falling of the cargo is improved, and the safety of warehouse operation is guaranteed.
In an implementation manner of this embodiment, the acquiring the angle parameter of the stereoscopic warehouse based on the millimeter wave receiver includes: receiving a first angle parameter of a first inclination angle sensor transmitted by a first millimeter wave transmitter, a second angle parameter of a second inclination angle sensor transmitted by a second millimeter wave transmitter and a third angle parameter of a third inclination angle sensor transmitted by a third millimeter wave transmitter based on a millimeter wave receiver; the first millimeter wave emitter and the first inclination angle sensor are bound and installed on a shelf grid of the stereoscopic warehouse, the second millimeter wave emitter and the second inclination angle sensor are bound and installed on a stacker of the stereoscopic warehouse, and the third millimeter wave emitter and the third inclination angle sensor are bound and installed on an upright post of the stereoscopic warehouse.
Fig. 3 is a schematic diagram of hardware arranged on a stereoscopic warehouse according to an embodiment of the present invention, where the tilt module includes a tilt sensor and a millimeter wave transmitter, the tilt module is disposed at the bottom of each shelf grid of the stereoscopic warehouse, the tilt module is installed on a stacker of the stereoscopic warehouse, and the tilt module is installed at an upright post of the stereoscopic warehouse.
In this embodiment, the calculating the tilt state parameter of the target cargo according to the angle parameter includes:
s11, analyzing the first angle parameter to obtain a first inclination angle, analyzing the second angle parameter to obtain a second inclination angle, and analyzing the third angle parameter to obtain a third inclination angle; determining a first height of a first tilt sensor, determining a second height of a second tilt sensor, and determining a third height of a third tilt sensor;
in this embodiment, the tilt sensor or the millimeter wave transmitter performs unique identification in the whole stereoscopic warehouse by using a hardware identifier, and after the tilt sensor or the millimeter wave transmitter is installed, a binding relationship between the hardware identifier and a hardware attribute is preset, where the hardware attribute includes an installation height, an installation position, a binding relationship between the tilt sensor and the millimeter wave transmitter, and the like.
S12, sorting the first inclination angle, the second inclination angle and the third inclination angle to generate a first queue; sequencing the first height, the second height and the third height to generate a second queue;
in one example, the tilt sensor includes a sensor 1, a sensor 2, and a sensor 3, which acquire a first tilt angle, a second tilt angle, and a third tilt angle of 1 °,5 °, and 3 °, respectively, and the corresponding heights of the sensor 1, the sensor 2, and the sensor 3 are 1m, 1.2m, and 3m, respectively, and if they are arranged in ascending order, the first array is [1 °, 3 °, and 5 °, and the second array is [1m, 1.2m, and 3m ].
And S13, calculating the tilt state parameter of the target cargo according to the first queue and the second queue.
In one example, calculating the tilt state parameter of the target good from the first queue and the second queue comprises: synchronously extracting each pair of elements in the first queue and the second queue in order, wherein each pair of elements comprises a tilt angle in the first queue and a height value in the second queue; judging whether the inclination angle sensors corresponding to each pair of elements are the same or not; if the inclination angle sensors corresponding to each pair of elements are the same, selecting a first target inclination angle with the largest angle in the first queue, and determining the first target inclination angle as the inclination angle of the target cargo; and if the inclination angle sensors corresponding to any pair of elements are different, accumulating and summing the first inclination angle, the second inclination angle and the third inclination angle to obtain a second target inclination angle, and determining the second target inclination angle as the inclination angle of the target cargo.
In the course of the calculation, based on the first queue and the second queue in the above example, first a first pair of elements is fetched: 1 °, 1m, each corresponding to a first tilt sensor, a second pair of elements: [3 ° and 1.2m ] respectively correspond to the third tilt sensor and the second tilt sensor, the corresponding tilt sensors are different, and the tilt angle of the target cargo is 1 ° +3 ° +5 ° =9 °.
Under normal conditions, when the stereoscopic warehouse is inclined, the higher the height is, the higher the inclined angle of the object in the warehouse is, or the inclined angle is kept constant, and if the higher the height is, the lower the inclined angle of the object is, the position of the goods in the warehouse may be disturbed, or the warehouse structure provided with the sensor may be disordered, the object is already in an irregular arrangement state, and the falling possibility is increased, so that the final inclined angle of the target goods is obtained by adding up a plurality of inclined angles. The larger the inclination angle of the target cargo is, the faster the early warning response speed is, the higher the priority is, and the higher the danger coefficient is.
In one implementation of this embodiment, the angle parameters include a fourth inclination angle at a first time and a fifth inclination angle at a second time, which are acquired by the millimeter wave receiver, and the calculating the inclination state parameter of the target cargo according to the angle parameters includes: comparing the fourth tilt angle to the fifth tilt angle, wherein the second time is after the first time; if the fifth inclination angle is larger than the fourth inclination angle, determining that the target cargo is in a continuous falling state; if the fifth inclination angle is equal to the fourth inclination angle, determining that the target cargo is in a hovering state; and if the fifth inclination angle is smaller than the fourth inclination angle, determining that the target cargo is in a shaking state.
In this embodiment, the tilt sensor collects the angle parameters in real time and synchronously transmits the angle parameters to the millimeter wave transmitter and the millimeter wave receiver, so that if the stereoscopic warehouse falls down, the tilt angle of the stereoscopic warehouse should be continuously increased until a maximum angle (for example, when the stereoscopic warehouse is changed from a horizontal prevention state to a vertical state, the angle is changed from 0 ° to 90 °, and the maximum angle is 90 °), when the tilt angle is larger and larger with time, the target cargo is in a continuous falling state, when the tilt angle is kept unchanged with time, the target cargo is in a continuous hovering state, the tilt angle is equal to 0, the target cargo is normally placed and is larger than 0, the target cargo is in an abnormal state, when the tilt angle is smaller and smaller with time, the target cargo is in a continuous shaking state, the object swings back and forth in the stereoscopic warehouse, and the tilt angle is irregularly changed with time.
The change trend and the inclination state of the target cargo at a certain time can be determined by calculating the inclination angle change of the inclination angle sensor at different times, the more accurate and clearer inclination state can be calculated by combining the specific angle value of the inclination angle, the comprehensive consideration can be conveniently carried out by a user, the actual state of the target cargo in the warehouse can be calculated under the condition of images at different viewing angles, and the falling risk of the target cargo can be estimated.
In some examples, generating the early warning signal of the abortion of the target cargo based on the tilt status parameter comprises: calculating the inclination direction and the inclination speed of the target cargo according to the inclination state parameters; calculating a horizontal falling position of the target cargo based on the inclination direction, and calculating the landing time of the target cargo based on the inclination speed; and generating a falling early warning signal of the target cargo by adopting the falling position and the falling time.
In this example, when the landing time and the horizontal landing position are calculated, the initial vertical height of the target cargo is determined, since the tilt angle sensor can collect the changed tilt angle value, the tilt angle value is set as a vector, and by setting two tilt angle sensors perpendicular to the horizontal direction, the tilt angle values of the target cargo in four directions, front, back, left and right, in the horizontal direction can be collected, the tilt speed can be calculated by the variation of the tilt angle, if the target cargo is tilted 5 ° in one second, the tilt speed is 5 °/s, the total tilt amount is 90 °, and if the target cargo is tilted at a uniform speed, the tilt time is 18 s.
Optionally, after adopting the fall position and falling the early warning signal that falls to the ground time generation target goods, still include: searching a first alarm around the falling position in the space where the stereoscopic warehouse is located, and positioning a second alarm around the security terminal; and sending the fall early warning signal to the security terminal, and controlling the first alarm and the second alarm to output an acousto-optic early warning signal.
The security protection terminal of this embodiment is the customer end that the security protection personnel carried, through carrying the early warning information of degeneration position and time of falling to the ground to security protection terminal propelling movement, can inform security protection personnel in time to handle, sends the degeneration early warning signal through the first alarm around the degeneration position, can prevent that field operation personnel from being close to the degeneration position, avoids appearing the incident.
In some examples, seek and use the drop position as the center, predetermine a plurality of alarm in the early warning scope, calculate the interval distance of every alarm and this drop position, generate early warning intensity and the early warning frequency of alarm based on this interval distance, early warning intensity includes light early warning signal's luminance and sound early warning signal's decibel, the interval distance is big more, early warning intensity and early warning frequency are higher, otherwise less, thereby can guide the field personnel to find the drop position fast through early warning signal, and improve the direction guide of on-the-spot evacuation, make the operating personnel keep away from dangerous drop position as early as possible.
Optionally, the first alarm and the second alarm of this embodiment may be a buzzer, a clearance radar, a lamp set, or other alarms, and may emit audible and visual alarm signals.
In an implementation scenario of this embodiment, the stereoscopic warehouse includes millimeter wave transmitters, millimeter wave receivers, and the like, the millimeter wave receivers are installed on a cabinet of the stereoscopic warehouse and kept connected with each millimeter wave transmitter at any time, the millimeter wave clearance radar is set at a place where the stereoscopic warehouse is located at a distance from the ground by taking the height of the stereoscopic warehouse as the height of the ground (for example, the height of the stereoscopic warehouse is 10 meters, and the millimeter wave clearance radar is installed at a distance of 10 meters from the stereoscopic warehouse), a factory-wide buzzer, and a buzzer is installed at each position of a factory.
After a falling early warning software system is installed and connected with the millimeter wave receiver, the falling early warning software system judges, analyzes and sends out early warning signals according to signals of the receiver, and the sending out early warning signals can send out short messages, mails, micro-message communication and all buzzers and other alarm devices in a field.
The process comprises the following steps:
each tilt sensor has a unique number to distinguish the tilt sensor installed at a specific position and height;
the inclination angle sensor continuously transmits the angles of the tray, the stacker and the mould frame to the millimeter wave receiver through the millimeter wave transmitter (such as #1, 5/2813: 01:23:0002, 0 degree angle);
the falling early warning software system receives data from the tilt sensor through the millimeter wave receiver;
the falling early warning software system compares and analyzes the received data to prevent false detection;
potential hazard class: when the inclination angle is 5-10 degrees, such as 5/2813: 01:28:0003, 6 degrees, the factory buzzer alarms but the sound is small, and meanwhile, the falling early warning software can send short messages and mails to inform relevant personnel of corresponding hidden dangers and require to immediately adjust the goods placement. Medium risk rating: when the inclination angle is 10-15 degrees, such as 5/2813: 01:29:0004, 11 degrees, the alarm sound of a factory buzzer is equal, and meanwhile, the falling early warning software sends short messages, mails and micro-messages to inform relevant personnel and requires all personnel to be prohibited from approaching. Extreme hazard level: when the inclination angle is more than 15 degrees, such as 5/2813: 01:30:0005, 16 degrees, the alarm sound of the factory buzzer is large, meanwhile, the falling early warning software can send short messages, mails and WeChat to inform factory personnel, immediately evacuate all field personnel, directly send information to inform companies and safety places of streets, and start the millimeter wave clearance radar beside the stereo garage.
The falling early warning software system can analyze the change speed of the inclination angle according to the received data to analyze the shaking degree of the goods price, and further can analyze the falling speed of falling objects; for example, a change in angle from 5 degrees to 6 degrees within 100 milliseconds indicates a sharp acceleration fall risk, directly into the extreme danger level.
By adopting the scheme of the embodiment, the goods, the stacker and the goods shelf can be ensured to immediately perform early warning in the fastest time by means of the high-speed characteristic of millimeter waves when the goods, the stacker and the goods shelf have a dumping trend under any condition and before falling, and complete falling early warning and prevention of all elements of the three-dimensional warehouse are achieved.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method according to the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 2
In this embodiment, a device for early warning of the falling of the cargo is further provided, which is used to implement the above embodiments and preferred embodiments, and the description of the above embodiments is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 4 is a block diagram of a configuration of a warning device for cargo abortion according to an embodiment of the present invention, as shown in fig. 4, the device includes: an acquisition module 40, a calculation module 42, a generation module 44, wherein,
the acquisition module 40 is configured to acquire angle parameters of a stereoscopic warehouse based on a millimeter wave receiver, where the stereoscopic warehouse stores target goods, the millimeter wave receiver is connected to a plurality of millimeter wave transmitters distributed on the stereoscopic warehouse, the millimeter wave transmitters are connected to an inclination sensor, and are configured to transmit sensing data of a current time to the millimeter wave receiver when the sensing data of the inclination sensor changes, and the inclination sensor is configured to sense the angle parameters of the current space in real time;
a calculating module 42, configured to calculate a tilt parameter of the target cargo according to the angle parameter;
a generating module 44, configured to generate an early warning signal for the degeneration of the target cargo based on the tilt status parameter.
Optionally, the obtaining module includes: the first receiving unit is used for receiving a first angle parameter of a first inclination angle sensor transmitted by a first millimeter wave transmitter, receiving a second angle parameter of a second inclination angle sensor transmitted by a second millimeter wave transmitter and receiving a third angle parameter of a third inclination angle sensor transmitted by a third millimeter wave transmitter based on a millimeter wave receiver; the first millimeter wave emitter and the first inclination angle sensor are installed on a shelf grid of the stereoscopic warehouse in a binding manner, the second millimeter wave emitter and the second inclination angle sensor are installed on a stacker of the stereoscopic warehouse in a binding manner, and the third millimeter wave emitter and the third inclination angle sensor are installed on an upright post of the stereoscopic warehouse in a binding manner.
Optionally, the calculating module includes: the processing unit is used for analyzing the first angle parameter to obtain a first inclination angle, analyzing the second angle parameter to obtain a second inclination angle, and analyzing the third angle parameter to obtain a third inclination angle; determining a first height of the first tilt sensor, determining a second height of the second tilt sensor, and determining a third height of the third tilt sensor; a sorting unit, configured to sort the first tilt angle, the second tilt angle, and the third tilt angle, and generate a first queue; sequencing the first height, the second height and the third height to generate a second queue; and the calculating unit is used for calculating the tilt state parameter of the target cargo according to the first queue and the second queue.
Optionally, the computing unit includes: an extraction subunit, configured to synchronously extract, in order, each pair of elements in the first queue and the second queue, where each pair of elements includes a tilt angle in the first queue and a height value in the second queue; the judging subunit is used for judging whether the inclination angle sensors corresponding to each pair of elements are the same or not; a calculating subunit, configured to select, if the tilt sensors corresponding to each pair of elements are the same, a first target tilt angle with a largest angle in the first queue, and determine the first target tilt angle as a tilt angle of the target cargo; if the inclination angle sensors corresponding to any pair of elements are different, the first inclination angle, the second inclination angle and the third inclination angle are adopted to obtain a second target inclination angle through accumulation and summation, and the second target inclination angle is determined as the inclination angle of the target cargo.
Optionally, the angle parameter includes a fourth tilt angle at a first time and a fifth tilt angle at a second time, which are acquired by the millimeter wave receiver, and the calculation module includes: a comparison unit for comparing the fourth tilt angle and the fifth tilt angle, wherein the second time is after the first time; the determining unit is used for determining that the target cargo is in a continuous falling state if the fifth inclination angle is larger than the fourth inclination angle; if the fifth inclination angle is equal to the fourth inclination angle, determining that the target cargo is in a hovering state; and if the fifth inclination angle is smaller than the fourth inclination angle, determining that the target cargo is in a shaking state.
Optionally, the generating module includes: a first calculating unit for calculating a tilting direction and a tilting speed of the target cargo according to the tilting state parameter; a second calculating unit, configured to calculate a horizontal drop position of the target cargo based on the tilt direction, and calculate a landing time of the target cargo based on the tilt speed; and the generation unit is used for generating the falling early warning signal of the target cargo by adopting the falling position and the falling time.
Optionally, the apparatus further comprises: the searching unit is used for searching a first alarm around the falling position and positioning a second alarm around a security terminal in a space where the stereoscopic warehouse is located after the generating unit generates the falling early warning signal of the target goods by adopting the falling position and the falling time; and the sending unit is used for sending the abortion early warning signal to the security terminal and controlling the first alarm and the second alarm to output an acousto-optic early warning signal.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Example 3
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, acquiring angle parameters of a stereoscopic warehouse based on a millimeter wave receiver, wherein target goods are stored in the stereoscopic warehouse, the millimeter wave receiver is connected with a plurality of millimeter wave transmitters distributed on the stereoscopic warehouse, the millimeter wave transmitters are connected with an inclination angle sensor and used for transmitting sensing data of the current time to the millimeter wave receiver when the sensing data of the inclination angle sensor changes, and the inclination angle sensor is used for sensing the angle parameters of the current space in real time;
s2, calculating the inclination state parameter of the target cargo according to the angle parameter;
and S3, generating an early warning signal for the falling of the target cargo based on the inclined state parameter.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic device may further include a transmission device and an input/output device, where the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring angle parameters of a stereoscopic warehouse based on a millimeter wave receiver, wherein target goods are stored in the stereoscopic warehouse, the millimeter wave receiver is connected with a plurality of millimeter wave transmitters distributed on the stereoscopic warehouse, the millimeter wave transmitters are connected with an inclination angle sensor and used for transmitting sensing data of the current time to the millimeter wave receiver when the sensing data of the inclination angle sensor changes, and the inclination angle sensor is used for sensing the angle parameters of the current space in real time;
s2, calculating the inclination state parameter of the target cargo according to the angle parameter;
and S3, generating an early warning signal for the falling of the target cargo based on the inclined state parameter.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, or portions or all or portions of the technical solutions that contribute to the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. An early warning method for the falling of goods is characterized by comprising the following steps:
the method comprises the steps that angle parameters of a stereoscopic warehouse are obtained based on a millimeter wave receiver, target goods are stored in the stereoscopic warehouse, the millimeter wave receiver is connected with a plurality of millimeter wave transmitters distributed on the stereoscopic warehouse, the millimeter wave transmitters are connected with an inclination angle sensor and used for transmitting sensing data of the current time to the millimeter wave receiver when the sensing data of the inclination angle sensor change, and the inclination angle sensor is used for sensing the angle parameters of the current space in real time;
calculating the inclination state parameter of the target cargo according to the angle parameter;
and generating an early warning signal of the target cargo based on the inclination state parameter.
2. The method of claim 1, wherein obtaining the stereoscopic warehouse angle parameters based on the millimeter wave receiver comprises:
receiving a first angle parameter of a first inclination angle sensor transmitted by a first millimeter wave transmitter, a second angle parameter of a second inclination angle sensor transmitted by a second millimeter wave transmitter and a third angle parameter of a third inclination angle sensor transmitted by a third millimeter wave transmitter based on a millimeter wave receiver;
the first millimeter wave emitter and the first inclination angle sensor are installed on a shelf grid of the stereoscopic warehouse in a binding manner, the second millimeter wave emitter and the second inclination angle sensor are installed on a stacker of the stereoscopic warehouse in a binding manner, and the third millimeter wave emitter and the third inclination angle sensor are installed on an upright post of the stereoscopic warehouse in a binding manner.
3. The method of claim 2, wherein calculating the parameter of the tilt state of the target cargo from the angle parameter comprises:
analyzing the first angle parameter to obtain a first inclination angle, analyzing the second angle parameter to obtain a second inclination angle, and analyzing the third angle parameter to obtain a third inclination angle; determining a first height of the first tilt sensor, determining a second height of the second tilt sensor, and determining a third height of the third tilt sensor;
sorting the first inclination angle, the second inclination angle and the third inclination angle to generate a first queue; sequencing the first height, the second height and the third height to generate a second queue;
and calculating the tilt state parameter of the target cargo according to the first queue and the second queue.
4. The method of claim 3, wherein calculating a tilt state parameter for the target good from the first queue and the second queue comprises:
synchronously fetching, in order, each pair of elements in the first queue and the second queue, wherein each pair of elements comprises a tilt angle in the first queue and a height value in the second queue;
judging whether the inclination angle sensors corresponding to each pair of elements are the same or not;
if the inclination angle sensors corresponding to each pair of elements are the same, selecting a first target inclination angle with the largest angle in the first queue, and determining the first target inclination angle as the inclination angle of the target cargo; if the inclination angle sensors corresponding to any pair of elements are different, the first inclination angle, the second inclination angle and the third inclination angle are adopted to obtain a second target inclination angle through accumulation and summation, and the second target inclination angle is determined as the inclination angle of the target cargo.
5. The method of claim 1, wherein the angle parameters comprise a fourth tilt angle at a first time and a fifth tilt angle at a second time acquired by the millimeter wave receiver, and the calculating the tilt state parameter of the target cargo according to the angle parameters comprises:
comparing the fourth tilt angle and the fifth tilt angle, wherein the second time is after the first time;
if the fifth inclination angle is larger than the fourth inclination angle, determining that the target cargo is in a continuous falling state; if the fifth inclination angle is equal to the fourth inclination angle, determining that the target cargo is in a hovering state; and if the fifth inclination angle is smaller than the fourth inclination angle, determining that the target cargo is in a shaking state.
6. The method of claim 1, wherein generating an early warning signal of the target cargo's abortion based on the tilt status parameter comprises:
calculating the inclination direction and the inclination speed of the target cargo according to the inclination state parameters;
calculating a horizontal falling position of the target cargo based on the inclination direction, and calculating a falling time of the target cargo based on the inclination speed;
and generating the falling early warning signal of the target cargo by adopting the falling position and the falling time.
7. The method of claim 6, wherein after generating an abort alert signal for the target good using the abort location and the landing time, the method further comprises:
searching a first alarm around the falling position in the space of the stereoscopic warehouse, and positioning a second alarm around the security terminal;
and sending the abortion early warning signal to the security terminal, and controlling the first alarm and the second alarm to output an acousto-optic early warning signal.
8. The utility model provides a goods falls's early warning device which characterized in that includes:
the system comprises an acquisition module, a storage module and an inclination angle sensor, wherein the acquisition module is used for acquiring angle parameters of a stereoscopic warehouse based on a millimeter wave receiver, target goods are stored in the stereoscopic warehouse, the millimeter wave receiver is connected with a plurality of millimeter wave transmitters distributed on the stereoscopic warehouse, the millimeter wave transmitters are connected with the inclination angle sensor and used for transmitting sensing data of the current time to the millimeter wave receiver when the sensing data of the inclination angle sensor change, and the inclination angle sensor is used for sensing the angle parameters of the current space in real time;
the calculation module is used for calculating the inclination state parameter of the target cargo according to the angle parameter;
and the generating module is used for generating an early warning signal for the falling of the target cargo based on the inclined state parameter.
9. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program when executed performs the method steps of any of the preceding claims 1 to 7.
10. An electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus; wherein:
a memory for storing a computer program;
a processor for performing the method steps of any of claims 1 to 7 by executing a program stored on a memory.
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