| With the promulgation of the "Made in China 2025" program,as an important support for realizing informationization of industry,smart storage has become a hot spot of concern for current enterprises and scholars from all sides.Smart warehousing refers to the intelligent perception and processing of warehousing material information.The core of achieving intelligent perception is a flexible and reliable material information collection system.Among them,material positioning is an important means of material information collection.Large materials are materials whose volume and weight are beyond the scope of manual processing and can only be dispatched by forklifts.The traditional material information collection system has the problems of rigid collection process,single positioning method,large system construction and maintenance cost,and low system reliability.The specific manifestation is that only the target material information is updated,after moving the target materials stacked inside or below,a forklift needs to restore the non-target materials which original position in outside or above.thereby increasing the use cost of the forklift and reducing the material management efficiency.The accuracy of the single positioning method is limited by the cost of system equipment and lacks universality.The collected material information lacks verification and the system has low reliability.In view of the above problems,this paper analyzes the positioning characteristics of large-scale materials,and designs the acquisition system,positioning method,and calculation algorithm.The specific content is as follows:1.Analyze the characteristics of material positioning,design a dynamic location information acquisition system and positioning strategy for large materials,and realize the dynamic of materials by updating the location of any large-scale material which moved by forklifts,so that the materials can be traced,and the problem of restoring non-target materials is effectively solved,Reduced forklift use costs and improved material management efficiency.2.Based on the research of forklift storage operation analysis and material positioning technology,a large-scale material indirect positioning method combining multiple positioning technologies is proposed.UWB positioning is used to solve the position and attitude of the forklift to indirectly obtain the material position,which effectively reduces non-line-of-sight interference caused by direct positioning of materials.3.A four-point fusion algorithm is proposed to calculate the position and attitude of the forklift.The four-point positioning result is merged into the one-point positioning result through the geometric relationship,which effectively reduces the maximum error of the positioning result of a single tag card and improves the system stability.4.A method of associating and matching the material position with the material information is proposed.Using cyclic probabilistic error analysis,we know that the probability of locating to an adjacent cargo location exceeds 5%.Through the unique identification and information matching method of the material tag moved by the forklift,the calculation result of the positioning is corrected,and the reliability of material information collection is effectively improved.5.A unique identification method for UHF RFID tags is proposed.By analyzing the collected RSSI data,different movement states of forklift operations can be determined,so as to realize the unique identification of the RFID tag moved by the forklift.Determine the materials that need to be updated in the dynamic management system and implement dynamic large-scale material management.Through simulation and warehouse experiment verification,the large-scale material dynamic collection system and its positioning method designed in this paper can realize the dynamic collection of large-scale material location information,and solve the problem of non-target material restoration. |
