CN110197010B - Symmetrical intelligent anti-falling method based on angle optimization - Google Patents
Symmetrical intelligent anti-falling method based on angle optimization Download PDFInfo
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- CN110197010B CN110197010B CN201910388802.7A CN201910388802A CN110197010B CN 110197010 B CN110197010 B CN 110197010B CN 201910388802 A CN201910388802 A CN 201910388802A CN 110197010 B CN110197010 B CN 110197010B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/06—Power analysis or power optimisation
Abstract
The invention discloses an angle optimization-based symmetrical intelligent anti-falling algorithm, which comprises the following specific steps of: s1: defining physical parameters; s2: and calculating the optimal inclination angle. According to the invention, the goods can be placed in a stable state under the shelf under the inclination angle of the optimal solution by the calculation method, and the load balance is kept. According to the physical properties, the total thrust borne by the innermost box is proportional to the angle, and the steeper the angle is, the greater the thrust is; the smaller the angle, the smaller the thrust. The automatic weighing device has the advantages that the outer commodity is prevented from being thrown out to fall towards the inner side, the thrust borne by the inner commodity is less than the upper limit threshold, the left-right unbalanced deviation is effectively avoided, the accuracy of angle positioning is ensured, and therefore the goods shelf is stably and smoothly placed on the AGV, and the danger coefficient is greatly reduced.
Description
Technical Field
The invention relates to the field of anti-falling algorithms, in particular to an intelligent symmetrical anti-falling method based on angle optimization.
Background
In the logistics industry, aiming at the B-class goods arrival mode, a common goods picking mode of an unmanned warehouse is that an unmanned carrier AGV bears a goods shelf carrying goods and moves to a workstation, and the goods listed by manual comparison orders are picked. In the prior art, according to order characteristics and estimation of manual experience, how to put goods on a layer is determined, the goods are placed on a goods shelf in advance, then the goods shelf is supported by an AGV, and the goods shelf is put down after being transported to a designated place. Common goods shelf structure in business scene contains multilayer baffle, and every layer keeps parallel with the horizon, but the hidden danger is in large-scale output and quick moving in-process goods shelves because the operation is unstable can have the danger that goods fall, puts the equilibrium point of commodity position under the prerequisite of estimation simultaneously and can not guarantee the accuracy. In order to effectively prevent the goods shelf from being unbalanced, the invention calculates an optimal solution angle to place goods on each layer of partition board of the goods shelf. The choice of angles is not random, and too large angles can lead to failure due to too steep angles; excessive leveling of the angle can lead to the continued occurrence of falling of the commodity. In the goods-to-person business scenario, the high-risk or abnormal state that is easy to frequently occur is represented as follows:
(1) In the moving process, goods are unbalanced due to unreasonable placement of goods, and the goods shelves are inclined;
(2) In the moving process, each layer of goods slide out of the goods shelf due to the fact that the AGV barrier suddenly stops;
(3) In the moving process, goods outside each layer are shocked and landed due to the jolt of the goods shelf;
these random failures introduce different levels of loss to production such as economic reimbursement and road cleaning, adding unnecessary logistical costs. In order to effectively solve the problems, a scientific basis is needed for the calculation method of commodity placement and shelf structure, and a set of standardized algorithm is adopted to calculate a reasonable angle so as to balance load and avoid falling objects, so that the invention aims at providing an intelligent balancing scheme. Compared with the prior art, the intelligent algorithm has the following advantages: each layer of the distribution balance, the single-layer commodity inclines inwards, the inclination angle of the support can be dynamically adjusted according to the commodity attribute, and the commodity on the outer side is prevented from being thrown out and falling to the ground in the rapid moving process.
Disclosure of Invention
The invention aims to provide an angle optimization-based symmetrical intelligent anti-falling algorithm, which comprises the following specific steps of:
s1: defining physical parameters:
1) Setting a counter as i, j;
2) Defining the maximum commodity box number which can be placed in a single layer as n;
3) Two side surfaces of each layer of the goods shelf, which can be used for placing goods boxes, are defined as a surface A and a surface B;
4) Defining gravity as G;
5) Defining the thrust as F;
6) Defining the height of the support column as H;
7) Defining a plurality of single-layer compositions of the shelf, wherein the serial numbers are l=1, 2,3, … and l;
8) The numbering sequence of each commodity box of each layer is gradually increased from left to right and from small to large,
，/>，/>，……，/>，/>；
10 Dividing each single layer into a left half part and a right half part with the same length and being symmetrical to each other,
＝/>；
10 Tilting the left half of each monolayer by a clockwise angle theta 1;
11 Tilting the right half of each monolayer by an anticlockwise angle theta 2;
12 The left half part and the right half part of each single layer are tightly connected in a butt joint way;
s2: calculating an optimal inclination angle:
1) Setting a maximum load weight threshold W of the goods shelf, wherein the sum of the goods weights does not exceed the threshold:
；
2) Setting a weight unbalance loading threshold value delta W of two sides of the goods shelf A and B, wherein the difference between the sum of the weights of the goods on the two sides of the single layer A and the single layer B does not exceed the threshold value;
|(A，l)-/>(B，l)|＜ΔW；
3) Obtaining threshold values from maximum weight of commodity that each of the different bins can withstand；
4) According to->Calculating the maximum weight threshold value which can be born by each of the left half part and the right half part of the single-layer partition board of the goods shelf, wherein the maximum weight threshold value is +.>And->The sum of the weights of the commodities in the left and right halves must not exceed the threshold value;
5) Calculate the sum of the thrust forces born by the innermost boxes of the left and right half-diaphragms as +.>And->；
;
6) The weight of the innermost box of the left and right half partition plates is obtained asAnd->；
7) According toAnd->Calculating the gravity of the innermost box of the left and right half partition plates as +>And->；
8) Defining the inclination angle of the partition plate and the horizontal line as theta, the left half angle as 0L, the right half angle as 0R, and satisfying the following conditions:
∠0L＝∠0R；
9) According to the physical properties, the angular relationship between gravity and thrust in the inclined state is:
＝G*sin(0L)
＝G*sin(0R)；
10 Calculating the optimal angles of the left side and the right side as follows:
0L＝arcsin(/G)
0R＝arcsin(/G)。
compared with the prior art, the invention has the beneficial effects that: according to the invention, the goods can be placed in a stable state under the shelf under the inclination angle of the optimal solution by the calculation method, and the load balance is kept. According to the physical properties, the total thrust borne by the innermost box is proportional to the angle, and the steeper the angle is, the greater the thrust is; the smaller the angle, the smaller the thrust. The automatic weighing device has the advantages that the outer commodity is prevented from being thrown out to fall towards the inner side, the thrust borne by the inner commodity is less than the upper limit threshold, the left-right unbalanced deviation is effectively avoided, the accuracy of angle positioning is ensured, and therefore the goods shelf is stably and smoothly placed on the AGV, and the danger coefficient is greatly reduced.
Drawings
FIG. 1 is a flow chart of an algorithm of the present invention;
FIG. 2 is a schematic diagram of a falling process of a rack pendant in an example;
FIG. 3 is a global view of the tilt angle of the present invention after modification;
FIG. 4 is a global view of the force analysis of the algorithm of the present invention;
FIG. 5 is a partial view of the force analysis of the algorithm of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The symmetrical intelligent anti-falling algorithm based on angle optimization comprises the following specific steps:
s1: defining physical parameters:
1) Setting a counter as i, j;
2) Defining the maximum commodity box number which can be placed in a single layer as n;
3) Two side surfaces of each layer of the goods shelf, which can be used for placing goods boxes, are defined as a surface A and a surface B;
4) Defining gravity as G;
5) Defining the thrust as F;
6) Defining the height of the support column as H;
7) Defining a plurality of single-layer compositions of the shelf, wherein the serial numbers are l=1, 2,3, … and l;
8) The numbering sequence of each commodity box of each layer is gradually increased from left to right and from small to large,
，/>，/>，……，/>，/>；
10 Dividing each single layer into a left half part and a right half part with the same length and being symmetrical to each other,
＝/>；
10 Tilting the left half of each monolayer by a clockwise angle theta 1;
11 Tilting the right half of each monolayer by an anticlockwise angle theta 2;
12 The left half part and the right half part of each single layer are tightly connected in a butt joint way;
s2: calculating an optimal inclination angle:
1) Setting a maximum load weight threshold W of the goods shelf, wherein the sum of the goods weights does not exceed the threshold:
；
2) Setting a weight unbalance loading threshold value delta W of two sides of the goods shelf A and B, wherein the difference between the sum of the weights of the goods on the two sides of the single layer A and the single layer B does not exceed the threshold value;
|(A，l)-/>(B，l)|＜ΔW；
3) Obtaining threshold values from maximum weight of commodity that each of the different bins can withstand；
4) According toCalculating the maximum weight threshold value which can be born by each of the left half part and the right half part of the single-layer partition board of the goods shelf, wherein the maximum weight threshold value is +.>Andthe sum of the weights of the commodities in the left and right halves must not exceed the threshold value;
；
5) Calculating the sum of the thrust born by the innermost boxes of the left and right half partition plates asAnd->：
；
6) The weight of the innermost box of the left and right half partition plates is obtained asAnd->；
7) According toAnd->Calculating the gravity of the innermost box of the left and right half partition plates as +>And->；
8) Defining the inclination angle of the partition plate and the horizontal line as theta, the left half angle as 0L, the right half angle as 0R, and satisfying the following conditions:
∠0L＝∠0R；
9) According to the physical properties, the angular relationship between gravity and thrust in the inclined state is:
＝G*sin(0L)
＝G*sin(0R)；
10 Calculating the optimal angles of the left side and the right side as follows:
0L＝arcsin(/G)
0R＝arcsin(/G)。
according to the invention, the goods can be placed in a stable state under the shelf under the inclination angle of the optimal solution by the calculation method, and the load balance is kept. According to the physical properties, the total thrust borne by the innermost box is proportional to the angle, and the steeper the angle is, the greater the thrust is; the smaller the angle, the smaller the thrust. The automatic weighing device has the advantages that the outer commodity is prevented from being thrown out to fall towards the inner side, the thrust borne by the inner commodity is less than the upper limit threshold, the left-right unbalanced deviation is effectively avoided, the accuracy of angle positioning is ensured, and therefore the goods shelf is stably and smoothly placed on the AGV, and the danger coefficient is greatly reduced.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (1)
1. An intelligent symmetrical anti-falling method based on angle optimization is characterized in that: the symmetrical intelligent anti-falling method based on angle optimization comprises the following specific steps:
s1: defining physical parameters:
1) Setting a counter as i, j;
2) Defining the maximum number of commodity boxes which can be placed in a single layer of the goods shelf as n;
3) Two side surfaces of each layer of the goods shelf, which can be used for placing goods boxes, are defined as a surface A and a surface B;
4) Defining gravity as G;
5) Defining the thrust as F;
6) Defining the height of the support column as H;
7) Defining that the shelf consists of a plurality of monolayers, with the sequence numbers l=1, 2,3, …;
8) The numbering sequence of each commodity box of each layer is gradually increased from left to right and from small to large,
，/>，/>，……，/>，/>；
9) Each single layer is split into a left half and a right half with the same length and are symmetrical to each other,
＝/>；
10 Tilting the left half of each monolayer by a clockwise angle theta 1;
11 Tilting the right half of each monolayer by an anticlockwise angle theta 2;
12 The left half part and the right half part of each single layer are tightly connected in a butt joint way;
s2: calculating an optimal inclination angle:
1) Setting a maximum load weight threshold W of the goods shelf, wherein the sum of the goods weights does not exceed the threshold:
2) Setting a weight unbalance loading threshold value delta W of two sides of the goods shelf A and B, wherein the difference between the sum of the weights of the goods on the two sides of the single layer A and the single layer B does not exceed the threshold value;
|(A，l)-/>(B，l)|＜ΔW；
3) Obtaining threshold values from maximum weight of commodity that each of the different bins can withstand；
4) According toCalculating the maximum weight threshold value which can be born by each of the left half part and the right half part of the single-layer partition board of the goods shelf, wherein the maximum weight threshold value is +.>And->The sum of the weights of the commodities in the left and right halves must not exceed the threshold value;
；
；
5) Calculating the sum of the thrust born by the innermost boxes of the left and right half partition plates asAnd-> ：
6) The weight of the innermost box of the left and right half partition plates is obtained asAnd->；
7) According toAnd->Calculating the gravity of the innermost box of the left and right half partition plates as +>And->；
8) Defining the inclination angle of the partition plate and the horizontal line as theta, the left half angle as 0L, the right half angle as 0R, and satisfying the following conditions:
∠0L＝∠0R；
9) According to the physical properties, the angular relationship between gravity and thrust in the inclined state is:
＝G*sin(0L)
＝G*sin(0R)；
10 Calculating the optimal angles of the left side and the right side as follows:
0L＝arcsin(/G)
0R＝arcsin(/G)。
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