CN110980338A - Self-adaptive planning method for bagged material loading stack - Google Patents
Self-adaptive planning method for bagged material loading stack Download PDFInfo
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- CN110980338A CN110980338A CN201911408645.8A CN201911408645A CN110980338A CN 110980338 A CN110980338 A CN 110980338A CN 201911408645 A CN201911408645 A CN 201911408645A CN 110980338 A CN110980338 A CN 110980338A
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- 239000000463 material Substances 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000010410 layer Substances 0.000 claims description 12
- 239000002356 single layer Substances 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
Abstract
The invention discloses a self-adaptive planning method for a bagged material loading stack shape, which automatically plans related stack shape parameters according to the size of a carriage and the size of a bagged material, improves the stack shape according to the shape condition of the actual material and improves the stability of the stack shape; and the complexity of a material grabbing mode of the robot is reduced, and the loading efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of bagged material loading stack shape design, and particularly relates to a bagged material loading stack shape self-adaptive planning method.
Background
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
with the arrival of the bagged material intelligent loading era, the intelligent loading system not only needs to identify various vehicle types and vehicle sizes, but also needs to design stable and optimal space stack shapes for different vehicle types and vehicle sizes. Most of the past researches are based on the optimal planning of carriage space for loading materials, the carriage space is generally transported by using a van, and the carriage space is maximally utilized due to the stacking type planned by the method, but the stacking type complexity is higher and the loading efficiency is low.
Bagged materials are large in deformation and are generally loaded by adopting a common truck. The stack type designed according to the space planning mode of the boxed materials is applied to loading of the bagged materials, the stability is poor, and a driver of a logistics vehicle has great danger in the transportation process; and the requirements of the industrial field on loading efficiency and stability are greater than the optimal space requirement, and the loading mode of the boxed materials is not suitable for loading the bagged materials.
Disclosure of Invention
The invention aims to solve the technical problem of providing a bagged material loading stack type self-adaptive planning method which is high in stability, ensures that the bagged material is not loosened during transportation, and is high in bagged material loading efficiency.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a self-adaptive planning method for a bagged material loading stack type comprises the following steps:
1) acquiring the size of a compartment of a logistics vehicle needing loading and the size of bagged materials;
2) designing a stack shape and stack shape parameters in a layered mode;
3) calculating the number of stacking layers and planning in three dimensions;
the step 2) comprises the following steps:
2.1) firstly planning a first-layer material stacking mode in the carriage, wherein the two sides of the carriage are stacked in a transverse stacking mode, and the middle of the carriage is stacked in a vertical stacking mode; a left-right symmetrical mode is adopted;
2.2) planning the number of horizontal code lines at two sides and the number of vertical code lines in the middle by using an integer planning algorithm;
2.3) the size of the stacked bags is determined by the size of the carriage and the size of the bagged materials and is finally determined according to the size range constraint of the stacked bags, wherein the size of the stacked bags comprises d1, d2 and d3, and d1 is the stacked bag distance between the side transverse stacking materials and the adjacent vertical stacking materials; d2 distance of bag stacking between adjacent crossyard materials on the side edge; d3 is the gap between adjacent vertical materials.
And 3) calculating the stacking layer number according to the number of the material bags stacked in the single layer and the total number of the bags needing loading.
In the step 3), when the materials are stacked upwards according to the number of layers, the sizes d2 and d3 of the stacked bags are increased, so that the stack shape presents a right-angled trapezoid shape from the two side view angles of the vehicle; increasing the stack size d1 causes the stack to assume an equilateral trapezoid shape from the vehicle aft perspective.
One of the above technical scheme has following advantage or beneficial effect, and bagged material loading buttress type stability is high, can not appear the loose bag condition of falling when guaranteeing bagged material transportation, and bagged material loading is efficient.
Drawings
FIG. 1 is a schematic diagram of a bagged material loading stack type adaptive planning method provided in an embodiment of the present invention;
FIG. 2 is a side view of a vehicle of the bagged material loading stack type adaptive planning method provided in the embodiment of the present invention;
FIG. 3 is a view of a vehicle tail portion of the bagged material loading stack type adaptive planning method provided in the embodiment of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1-3, a bagged material loading stack type adaptive planning method comprises the following steps:
1. acquiring the size of a compartment of a logistics vehicle needing loading and the size of bagged materials;
2. layered design of stack shape and stack shape parameters
(1) Firstly, planning a stacking mode of a first layer of materials in a carriage, and if the stacking mode is a stacking type of a low-upper vehicle type as shown in fig. 1, the stacking type is in a bilateral symmetry mode, so that the stacking type is stable, the complexity of the stacking type is low, the robot has a simple material grabbing mode, the posture change of the robot is less, and the loading efficiency is high;
(2) planning the number of horizontal code lines on two sides and the number of vertical code lines in the middle by using an integer planning algorithm;
(3) due to the fact that the stability of the low-upper vehicle type to the stack shape is high, the stack shape stability can be better facilitated when a proper amount of size of the stacked bags is needed between two bagged materials, and the size of the stacked bags can be preset in a proper range; the size of the bag stacking is determined by the size of a carriage and the size of bagged materials and is finally determined according to the restriction of a proper range of the bag stacking size, and d1, d2 and d3 in the figure 1 are the sizes of the bag stacking; as shown in fig. 1, where d1 is the distance between the stacked pockets between the lateral transverse stacking material and the adjacent vertical stacking material (centerline distance, automatically planned according to the vehicle width); d2 bag stacking distance (centerline distance, automatically planned according to vehicle width) between adjacent transverse materials on the side edge; d3 is the gap between adjacent vertical materials (automatically planned according to the car width).
3. Stack floor number calculation and three-dimensional planning
Calculating the stacking layer number according to the number of single-layer stacked material bags and the total number of bags needing loading; if each layer is stacked according to the single-layer stack shape, the stack shape is unstable, and the bag sliding phenomenon occurs;
when materials are stacked upwards according to the number of layers, the sizes d2 and d3 of the stacked bags are increased, so that the stack shape presents a right-angled trapezoid shape from the view angles of two sides of a vehicle; increasing the stack size d1 causes the stack to assume an equilateral trapezoid shape from the vehicle aft perspective, as shown in FIGS. 2-3:
related stacking parameters are automatically planned according to the size of the carriage and the size of the bagged materials, and the stacking is improved according to the actual material shape, so that the stacking stability is improved; and the complexity of the material grabbing mode of the robot is reduced, and the loading efficiency is improved. The bagged materials are mutually pressed, so that the stability is high; the stack shape is similar to a pyramid form, so that the stability is greatly improved; the loading efficiency is improved.
The stack shape designed by the method is used for actual loading, and is neat and flat, stable and reliable; and because the robot snatchs the mode simply, improved the robot loading efficiency, improve 100 bags/hour approximately.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (4)
1. A self-adaptive planning method for a bagged material loading stack type is characterized by comprising the following steps:
1) acquiring the size of a compartment of a logistics vehicle needing loading and the size of bagged materials;
2) designing a stack shape and stack shape parameters in a layered mode;
3) and (4) calculating the number of the stacking layers and planning in three dimensions.
2. The self-adaptive planning method for the stack loading of bagged materials according to claim 1, wherein the step 2) comprises the following steps:
2.1) firstly planning a first-layer material stacking mode in the carriage, wherein the two sides of the carriage are stacked in a transverse stacking mode, and the middle of the carriage is stacked in a vertical stacking mode; a left-right symmetrical mode is adopted;
2.2) planning the number of horizontal code lines at two sides and the number of vertical code lines in the middle by using an integer planning algorithm;
2.3) the size of the stacked bags is determined by the size of the carriage and the size of the bagged materials and is finally determined according to the size range constraint of the stacked bags, wherein the size of the stacked bags comprises d1, d2 and d3, and d1 is the stacked bag distance between the side transverse stacking materials and the adjacent vertical stacking materials; d2 distance of bag stacking between adjacent crossyard materials on the side edge; d3 is the gap between adjacent vertical materials.
3. The self-adaptive planning method for the stack loading of bagged materials according to claim 2, wherein in the step 3), the number of stacking layers is calculated according to the number of material bags capable of being stacked in a single layer and the total number of bags to be loaded.
4. The self-adaptive planning method for the loading of the bagged materials into the stack shape of claim 3, wherein in the step 3), when the materials are stacked upwards according to the number of layers, the sizes d2 and d3 of the stacked bags are increased, so that the stack shape is in a right-angled trapezoid shape from the two side view angles of the vehicle; increasing the stack size d1 causes the stack to assume an equilateral trapezoid shape from the vehicle aft perspective.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911408645.8A CN110980338A (en) | 2019-12-31 | 2019-12-31 | Self-adaptive planning method for bagged material loading stack |
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| CN201911408645.8A CN110980338A (en) | 2019-12-31 | 2019-12-31 | Self-adaptive planning method for bagged material loading stack |
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| CN110980338A true CN110980338A (en) | 2020-04-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114261776A (en) * | 2021-12-31 | 2022-04-01 | 杭州电子科技大学 | Mixed stacking planning method suitable for soft bags in bags |
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2019
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| CN114261776A (en) * | 2021-12-31 | 2022-04-01 | 杭州电子科技大学 | Mixed stacking planning method suitable for soft bags in bags |
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Application publication date: 20200410 |
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