CN111547533B - Intelligent loading system, control method thereof and storage medium - Google Patents

Intelligent loading system, control method thereof and storage medium Download PDF

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Publication number
CN111547533B
CN111547533B CN202010523444.9A CN202010523444A CN111547533B CN 111547533 B CN111547533 B CN 111547533B CN 202010523444 A CN202010523444 A CN 202010523444A CN 111547533 B CN111547533 B CN 111547533B
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stacking
space
parameters
distribution mode
units
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CN111547533A (en
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不公告发明人
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Shi Yang
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Tianjin Shenhong Technology Development Co ltd
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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
    • B65G67/08—Loading land vehicles using endless conveyors
    • 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
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/02—Frames mounted on wheels for movement on rail tracks
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • 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
    • B65G57/09—Stacking of articles by adding to the top of the stack from alongside
    • B65G57/10—Stacking of articles by adding to the top of the stack from alongside by devices, e.g. reciprocating, acting directly on articles for horizontal transport to the top of stack

Abstract

The invention discloses an intelligent loading system, a control method thereof and a storage medium, wherein the intelligent loading system comprises: the conveying mechanism is used for conveying the material units to the stacking mechanism; the stacking mechanism is provided with a stacking space and used for stacking the material units in the stacking space to obtain a stacking unit; the stacking mechanism is used for stacking a stacking unit in a carrying space of the carrying mechanism, and the stacking unit refers to a set of material units stacked in the stacking space; and the control mechanism is used for determining the first stacking scheme and the second stacking scheme according to the parameters of the material unit and the carrying space. The first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the second stacking scheme includes a second stacking pattern and a second stacking order. The invention has high intelligent degree and low manual participation degree, can adapt to various loading environments and has wide prospect.

Description

Intelligent loading system, control method thereof and storage medium
Technical Field
The invention relates to the field of intelligent transportation, in particular to an intelligent loading system, a control method thereof and a storage medium.
Background
At present, in production lines of paper making, food, chemical industry and the like, goods are generally loaded manually in the prior art, the loading efficiency is low, and the labor cost and the labor intensity are high. Certainly, some automatic loading equipment exists in the prior art, but the loading operation can be only performed on a flat truck with a fixed vehicle width or a truck with a detachable tail fence, but the width adjustment can not be performed according to different vehicle types, so that the limitation is great, the intelligent degree is low, the dependence on scenes is strong, and the complex and variable actual loading situations can not be met; therefore, in order to adapt to the actual loading environment, a technical scheme capable of obtaining stacked items according to the actual loading environment is urgently needed in the prior art.
Furthermore, how to realize the adaptation of the stacking scene and the intelligent loading system enables the intelligent loading equipment to be automatically adjusted according to different stacking scenes, so that the successful implementation of stacking is also a direction to be researched in the field of intelligent transportation.
Disclosure of Invention
In order to solve the technical problems that the prior art is low in intelligent degree and strong in scene dependency and cannot meet complex and variable actual loading situations during loading operation, the embodiment of the invention provides an intelligent loading system, a control method thereof and a storage medium.
The present disclosure provides an intelligent loading system, comprising:
the conveying mechanism is used for conveying the material units to the stacking mechanism;
the stacking mechanism is provided with a stacking space and used for stacking the material units in the stacking space to obtain a stacking unit;
the stacking unit is a set of material units stacked in the stacking space;
a control mechanism for determining a first stacking scheme and a second stacking scheme according to the parameters of the material unit and the carrying space;
the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in the stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution;
the second stacking scheme comprises a second stacking distribution mode and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
The present disclosure also proposes a control device, comprising:
a first control module for determining a unit of a first stacking scheme;
a second control module for determining elements of a second stacking scheme;
the first stacking scheme and the second stacking scheme are determined according to parameters of the material units and parameters of the carrying space;
the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in the stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution;
the second stacking scheme comprises a second stacking distribution mode and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
The present disclosure also proposes an intelligent loading method, the method comprising:
conveying the material unit to a stacking mechanism;
stacking the material units in a stacking space of a stacking mechanism according to a first stacking scheme;
stacking units in a carrying space of a carrying mechanism according to a second stacking scheme, wherein the stacking units are a set of material units stacked in the carrying space;
wherein, according to the parameters of the material unit and the carrying space, a first stacking scheme and a second stacking scheme are determined; the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in the stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution;
the second stacking scheme comprises a second stacking pattern and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
The present disclosure also proposes a method for determining a stacking scheme, the method including:
acquiring parameters of a material taking unit and parameters of a carrying space of carrying equipment;
determining setting parameters of a stacking space of a stacking mechanism according to the parameters of the carrying space, wherein the setting parameters are used for adjusting the stacking mechanism to form the stacking space corresponding to the setting parameters;
determining a first stacking scheme according to the parameters of the material units and the parameters of the stacking space, wherein the first stacking scheme is used for stacking the material units in the stacking space, and the first stacking scheme is determined according to the parameters of the material units and the carrying space; the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in the stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution;
determining a second stacking scheme according to the parameters of the stacking unit and the parameters of the carrying space, wherein the second stacking scheme comprises a second stacking distribution mode and a second stacking sequence; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
The present disclosure also provides an intelligently loaded data management system, the system comprising:
the parameter information management module is used for managing parameter information, the parameter information at least reflects parameters of the material unit and parameters of the carrying space, and the parameters at least comprise size parameters;
a stacking scheme management module for managing stacking scheme information reflecting at least a first stacking scheme and a second stacking scheme determined according to parameters of the material unit and the carrying space;
a mapping relation management module, configured to manage a mapping relation between the parameter information and the stacking scheme information, where the mapping relation reflects a correspondence relation between a combination of a parameter of the material unit and a parameter of the carrying space and the first stacking scheme and the second stacking scheme;
the first stacking scheme and the second stacking scheme are determined according to parameters of the material units and parameters of the carrying space;
the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in a stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution; the second stacking scheme comprises a second stacking pattern and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
A computer-readable storage medium may store a plurality of instructions, which may be adapted to be loaded by a processor and to perform the above-described method.
The invention provides an intelligent loading system, a control method thereof and a storage medium, wherein the system can automatically generate a stacking scheme according to a stacking environment and implement full-automatic stacking according to the stacking scheme.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an intelligent loading system according to the present invention;
fig. 2 is a schematic layout view of the material unit provided by the present invention in the stacking space;
FIG. 3 is a flow chart of an intelligent loading method provided by the present invention;
FIG. 4 is a flow chart of a method for determining a palletization scheme in accordance with the present invention;
FIG. 5 is a schematic diagram of a stacking posture of a material unit provided by the present invention;
FIG. 6 is a flow chart of a first target algorithm for determining the first stack distribution provided by the present invention;
FIG. 7 is a flow chart of the present invention providing for determining the second stacking pattern using a second target algorithm;
FIG. 8 is a schematic diagram of a data management system for intelligent loading provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention 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 invention 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, system, article, or server 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.
In order to make the purpose, technical solution and advantages disclosed in the embodiments of the present invention more clearly understood, the embodiments of the present invention are described in further detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of the invention and do not delimit the embodiments.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present embodiment, the meaning of "a plurality" is two or more unless otherwise specified.
In order to solve the technical problems that in the prior art, the intelligent degree is low, the dependence on scenes is strong, and complicated and changeable actual loading situations cannot be met during loading operation, the embodiment of the invention provides an intelligent loading system, a corresponding control method and a computer storage medium.
The present invention provides an intelligent loading system, as shown in fig. 1, including:
the conveying mechanism is used for conveying the material units to the stacking mechanism;
the stacking mechanism is provided with a stacking space and used for stacking the material units in the stacking space; to obtain a stacking unit;
the stacking mechanism is used for stacking a stacking unit in a carrying space of the carrying mechanism, and the stacking unit refers to a set of material units stacked in the stacking space;
and the control mechanism is used for determining the first stacking scheme and the second stacking scheme according to the parameters of the material unit and the carrying space.
Preferably, the control mechanism is further configured to determine a setting parameter of the stacking space according to a parameter of the carrying space; the stacking mechanism is also used for stretching and contracting to obtain a stacking space corresponding to the setting parameters.
The first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in the stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution.
The second stacking scheme comprises a second stacking distribution mode and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
The control mechanism is used for calculating a stacking threshold value on at least one dimension according to parameters of the material units and the stacking space, wherein the stacking threshold value is the maximum value of the number of the material units stacked in the stacking space on the dimension; determining the optimal distribution mode in each stacking scheme corresponding to the stacking threshold value that the number of the stacking material units in each dimension does not exceed the stacking threshold value as a first stacking distribution mode based on a first target algorithm; the control mechanism is further configured to determine the second stacking distribution pattern based on a second target algorithm based on parameters of the stacking unit and the carrying space.
Specifically, the first target algorithm or the second target algorithm may use one or more of the number of stacked materials, the stacking area, the stacking volume, and the stacking weight, or a weighted combination thereof as a calculation parameter.
Specifically, the material unit refers to a unit of existence of a material in a stacking process, the material unit may be in a packaged form, such as a bagged material, a boxed material, or the like, and the material unit may also be in an unpackaged or semi-packaged form, such as one log, one bundle of steel, one brick, one piece of ice, or the like.
In a particular embodiment of the invention, the distribution of the material units in the stacking space can be uniquely determined according to a first stacking scheme, which is shown in fig. 2. In the stacking space of fig. 2, 3 material units are stacked in one position, which is designated by 1 according to the first stack distribution pattern, and 2 material units are stacked in another position, which is perpendicular to the one position, in positions designated by 3, 5, 6, 4, 2.
In the intelligent loading system, the conveying mechanism pushes the material units to the stacking space of the stacking mechanism according to a first stacking sequence through a belt. In a specific embodiment, the input positions of the conveying mechanism for pushing the material units are relatively fixed, the input positions represent the relative positions of the conveying mechanism and the stacking mechanism, the material units are sequentially output from the conveying mechanism according to a first stacking sequence, enter through the input positions and are stacked in the stacking space of the stacking mechanism, and finally the first stacking distribution mode is formed.
Specifically, as shown in fig. 2, the material units are stacked in order of S1, S2, S3 from the input position to position "1", S4 and S5 to position "2", and so on, to form the first stack distribution, with S1-S13 reflecting the first stack order.
In a possible embodiment, the control device is further configured to determine a setting parameter of the stacking space according to a parameter of the carrying space; the stacking mechanism is also used for stretching and contracting to obtain a stacking space corresponding to the setting parameters.
Correspondingly, the invention further provides a control device, which is used in the intelligent loading system and specifically comprises:
a first control module for determining a unit of a first stacking scenario;
a second control module for determining elements of a second stacking scenario;
the first stacking scheme and the second stacking scheme are determined according to parameters of the material units and parameters of the carrying space;
the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in a stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution.
The second stacking scheme comprises a second stacking distribution mode and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
In a specific embodiment, the first control module is configured to calculate a stacking threshold in at least one dimension according to parameters of the material units and the stacking space, where the stacking threshold is a maximum value of a number of the material units stacked in the stacking space in the dimension; determining the optimal distribution mode in each stacking scheme corresponding to the stacking threshold value that the number of the material stacking units in the stacking space in each dimension does not exceed the stacking threshold value as a first stacking distribution mode based on a first target algorithm;
the second control module is used for determining the second stacking distribution mode based on a second target algorithm according to the parameters of the stacking units and the carrying space.
Specifically, the first target algorithm or the second target algorithm may use one or more of the number of stacked materials, the stacking area, the stacking volume, and the stacking weight, or a weighted combination thereof as a calculation parameter.
Accordingly, the present invention provides an intelligent loading method, as shown in fig. 3, the method at least includes:
s101, conveying the material unit to a stacking mechanism;
s103, stacking the material units in a stacking space of a stacking mechanism according to a first stacking scheme;
s105, stacking units in a carrying space of a carrying mechanism according to a second stacking scheme, wherein the stacking units are a set of material units stacked in the carrying space;
wherein, according to the parameters of the material unit and the carrying space, a first stacking scheme and a second stacking scheme are determined;
the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in the stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution.
The second stacking scheme comprises a second stacking distribution mode and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
In one embodiment, before step S103, adjusting the stacking mechanism to form a stacking space with the set parameters is further included.
The adjustable stacking mechanism comprises: determining the setting parameters of the stacking space according to the parameters of the carrying space;
adjusting the telescopic stacking mechanism to obtain a stacking space corresponding to the setting parameter.
In a possible embodiment, a stacking threshold in at least one dimension may be calculated according to parameters of the material units and the stacking space, where the stacking threshold refers to a maximum value of the number of the material units stacked in the stacking space in the dimension; and determining the optimal distribution mode in each stacking scheme corresponding to the stacking threshold value which is not exceeded by the number of the stacking material units in the stacking space in each dimension as a first stacking distribution mode based on a first target algorithm.
In another possible embodiment, the second stacking distribution may be determined based on a second target algorithm according to parameters of the stacking units and the carrying spaces.
Specifically, the first target algorithm or the second target algorithm may be used to calculate parameters based on one or more of the number of stacked materials, the stacking area, the stacking volume, and the stacking weight, or a weighted combination thereof.
The present invention also provides a method for determining a stacking scheme, as shown in fig. 4, the method including:
s201, acquiring parameters of a material taking unit and parameters of a carrying space of carrying equipment;
specifically, the parameters of the material unit at least comprise one of length, width, height, capacity and weight;
the parameters of the carrying space at least comprise one of length, width, height limit, volume and weight limit;
the carrying space refers to a space for storing materials in carrying equipment, such as a dump body of a dump truck.
S203, determining the setting parameters of the stacking space of the stacking mechanism according to the parameters of the carrying space, wherein the setting parameters are used for adjusting the stacking mechanism to form the stacking space corresponding to the setting parameters;
in the embodiment of the invention, the stacking mechanism is adjusted according to the setting parameters by determining the setting parameters of the stacking space, so that the stacking space corresponding to the setting parameters is formed in the stacking mechanism; preferably, the parameters are set such that the stacking space does not exceed the carrying space.
The adjustment can be telescopic, automatic or manual.
According to the scheme of the invention, the stacking mechanism can be adjusted according to the size of a specific carrying space, so that the stacking unit obtained by stacking the material units in the stacking space can be matched with the carrying space, and compared with the prior art that only a fixed transport vehicle can be stacked, the invention enhances the adaptability to carrying equipment, and can be applied to various stacking scenes and various complex and changeable actual loading environments.
S205, determining a first stacking scheme according to the parameters of the material units and the parameters of the stacking space, wherein the first stacking scheme is used for stacking the material units in the stacking space, and the first stacking scheme is determined according to the parameters of the material units and the carrying space; the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in the stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution.
In one embodiment, the determining the first stacking distribution according to the parameters of the material units and the parameters of the stacking space includes:
s2051, calculating at least one stacking threshold value in at least one space dimension according to parameters of the material units and parameters of the stacking space;
in a preferred embodiment, the code threshold comprises:
a first stacking threshold value, which is the maximum value of the material units stacked in a first attitude in a first dimension;
a second stacking threshold value, which is the maximum value of the material units stacked in the second posture on the first dimension;
the first attitude is in a perpendicular relationship with the second attitude;
in a preferred embodiment, the first dimension is a long side direction of the stacking space, the long side of the material unit in the first posture is perpendicular to the first dimension, and the long side of the material unit in the second posture is parallel to the first dimension. Alternatively, the first posture and the second posture may be interchanged, and the first dimension may be a short-side direction of the stacking space.
As shown in fig. 5, the first dimension is a long side direction of the stacking space, the long side of the material unit in the first posture is perpendicular to the first dimension, a value of the material unit 1 stacked in the first posture in the first dimension is 3, and a value of the material unit 2 stacked in the second posture in the first dimension is 1.
S2053, determining a first stacking distribution mode according to the parameters of the material units, the parameters of the stacking space and the stacking threshold value.
Further, a first target algorithm may be utilized to determine the first stack distribution, as shown in fig. 6, specifically including:
s20531, traversing the values of the material units which do not exceed the stacking threshold value when the material units are stacked according to the parameters of the material units, the parameters of the stacking space and the stacking threshold value, and acquiring a set of corresponding stacking distribution modes;
s20533, calculating a stacking value corresponding to each distribution mode in the stacking distribution mode set, wherein the stacking value is one or more of the quantity of stacked materials, the stacking area, the stacking volume and the stacking weight or a weighted combination.
S20535, determining the optimal distribution mode of the stacking values as a first stacking distribution mode, wherein the optimal distribution mode can be the optimal distribution mode under the maximum value, the preset value, the most similar value or other considered modes.
As shown in fig. 5, the area of the shaded portion is the stacking area of the stacking unit corresponding to a certain stacking scheme, the blank portion 3 and the blank portion 4 are invalid areas, and the larger the stacking area is, the higher the stacking space utilization rate is.
S207, determining a second stacking scheme according to the parameters of the stacking unit and the parameters of the carrying space, wherein the second stacking scheme comprises a second stacking distribution mode and a second stacking sequence; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
Further, a second target algorithm may be utilized to determine the second stacking distribution pattern, as shown in fig. 7, specifically including:
s2071, obtaining a set of stacking distribution modes in the carrying space according to the parameters of the carrying space and the parameters of the stacking space;
and S2073, calculating a stacking value corresponding to each distribution mode in the stacking distribution mode set, wherein the stacking value is one or more of the number of stacked materials, the stacking area, the stacking volume and the stacking weight or a weighted combination.
And S2075, determining the optimal distribution mode of the stacking values as a second stacking distribution mode, wherein the optimal distribution mode can be the maximum value, a preset value, a most similar value or the optimal mode under other consideration modes.
In a preferred embodiment, the first and second stack distributions are further defined in a vertical direction; the definition may be, for example, that the stacking height is from low to high in the direction of advance of the carrier.
Compared with the prior art, the embodiment of the invention can be applied to various stacking scenes, obviously improves the adaptability of the automatic material stacking system and has wide application prospect.
The invention also discloses an intelligent loading data management system, as shown in fig. 8, the system comprises:
a parameter information management module 301, configured to manage parameter information, where the parameter information at least reflects parameters of a material unit and parameters of a carrying space, and the parameters at least include a size parameter;
a stacking scheme management module 303 configured to manage stacking scheme information, the stacking scheme information reflecting at least a first stacking scheme and a second stacking scheme, the first stacking scheme and the second stacking scheme being determined according to parameters of the material unit and the carrying space;
a mapping management module 305, configured to manage a mapping relationship between the parameter information and the stacking scenario information, where the mapping relationship reflects a correspondence relationship between a combination of a parameter of the material unit and a parameter of the carrying space and a first stacking scenario and a second stacking scenario.
The first stacking scheme and the second stacking scheme are determined according to parameters of the material units and parameters of the carrying space;
the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in the stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution; the second stacking scheme comprises a second stacking pattern and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
The parameters of the material unit further comprise at least one of weight parameters, capacity parameters, packaging parameters and category parameters; the parameters of the carrying space further comprise at least one of a weight parameter, a capacity parameter, a weight limit parameter, a capacity limit parameter and an environment parameter;
the parameter information may directly reflect the parameters of the material unit and the parameters of the carrying space, such as the parameter values of the material unit and the carrying space; the parameter information may also indirectly reflect parameters of the material unit and parameters of the carrying space, for example, the parameter information is identification information or model information, and the identification information or model information reflects parameters of the material unit and the carrying space of the carrying device, respectively.
The mapping relationship between the parameter information and the stacking scheme specifically means: the corresponding parameter of the material unit and the parameter of the carrying space in each combination of the parameter of the material unit and the parameter of the carrying space correspond to the corresponding first stacking scheme and the second stacking scheme.
Preferably, the mapping relationship refers to a direct correspondence relationship between each combination of the parameters of the material units and the parameters of the carrying space and the first stacking scheme and the second stacking scheme.
Alternatively, each combination of the parameters of the material units and the parameters of the carrying space is identified, and the mapping relationship refers to the corresponding relationship between the identification and the first stacking scheme and the second stacking scheme.
Alternatively, the first stacking plan and the second stacking plan may be combined, and each combination manner is identified, where the mapping relationship refers to a correspondence relationship between an identification of a parameter combination or combination manner of the material unit and the carrying space and an identification of a combination manner of the first stacking plan and the second stacking plan.
The automatic stacking data management system further includes a parameter information obtaining module 307, configured to obtain parameter information.
The embodiment of the invention discloses an intelligent loading data management system, which can automatically obtain a stacking scheme according to the data management system and implement full-automatic stacking according to the stacking scheme.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium may store a plurality of instructions. The instructions may be adapted to be loaded by a processor and to perform a smart loading method according to an embodiment of the present invention.
It should be noted that: the sequence of the above embodiments of the present invention is only for description, and does not represent the advantages or disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the device and server embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (11)

1. An intelligent loading system, comprising:
the conveying mechanism is used for conveying the material units to the stacking mechanism;
the stacking mechanism is provided with a stacking space and used for stacking the material units in the stacking space to obtain a stacking unit; the stacking mechanism is also used for stretching to obtain a stacking space corresponding to the setting parameters;
the stacking unit is a set of material units stacked in the stacking space;
the control mechanism is used for determining a first stacking scheme and a second stacking scheme according to the parameters of the material unit and the carrying space; the control mechanism is also used for determining the setting parameters of the stacking space according to the parameters of the carrying space;
the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in the stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution;
the second stacking scheme comprises a second stacking distribution mode and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking the stacking units in the carrying space, and the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space; wherein the second stacking order is determined according to a second stacking distribution;
the control mechanism is used for calculating a stacking threshold value on at least one dimension according to parameters of the material units and the stacking space, wherein the stacking threshold value is the maximum value of the number of the material units stacked in the stacking space on the dimension; determining the optimal distribution mode in each stacking scheme corresponding to the stacking threshold value that the number of the material stacking units in the stacking space in each dimension does not exceed the stacking threshold value as a first stacking distribution mode based on a first target algorithm;
wherein, confirm first pile of piles distribution mode, still include:
traversing values of the material units which do not exceed the stacking threshold when the material units are stacked according to the parameters of the material units, the parameters of the stacking space and the stacking threshold to obtain a set of corresponding stacking distribution modes; calculating a stacking value corresponding to each distribution mode in the stacking distribution mode set; determining the distribution mode with the optimal stacking value as a first stacking distribution mode;
the control mechanism is further used for determining a second stacking distribution mode based on a second target algorithm according to the parameters of the stacking unit and the carrying space;
wherein, determining the second stacking distribution mode further comprises:
obtaining a set of stacking distribution modes in the carrying space according to the parameters of the carrying space and the parameters of the stacking space; calculating a stacking value corresponding to each distribution mode in the stacking distribution mode set; and determining the distribution mode with the optimal stacking value as a second stacking distribution mode.
2. A smart loading method using the smart loading system of claim 1, the method comprising:
conveying the material unit to a stacking mechanism;
stacking the material units in a stacking space of a stacking mechanism according to a first stacking scheme;
stacking units in a carrying space of a carrying mechanism according to a second stacking scheme, wherein the stacking units are a set of material units stacked in the carrying space;
wherein, according to the parameters of the material unit and the carrying space, a first stacking scheme and a second stacking scheme are determined; the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in a stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution;
the second stacking scheme comprises a second stacking pattern and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking the stacking units in the carrying space, and the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space; wherein the second stacking order is determined according to a second stacking distribution;
calculating a stacking threshold value on at least one dimension according to parameters of the material units and the stacking space, wherein the stacking threshold value is the maximum value of the number of the material units stacked in the stacking space on the dimension; determining the optimal distribution mode in each stacking scheme corresponding to the stacking threshold value that the number of the stacking material units in each dimension does not exceed the stacking threshold value as a first stacking distribution mode based on a first target algorithm;
and determining the second stacking distribution mode based on a second target algorithm according to the parameters of the stacking unit and the carrying space.
3. The method of claim 2, further comprising, prior to the step of stacking the material units in the stacking space of the stacking mechanism:
adjusting the stacking mechanism to obtain a stacking space corresponding to a set parameter;
the setting parameters of the stacking space are determined according to the parameters of the carrying space.
4. The method of claim 3, wherein the first or second target algorithm calculates parameters based on one or more of the number of stacked materials, the area of the stack, the volume of the stack, the weight of the stack, or a weighted combination thereof.
5. A method of determining a palletizing scenario using the smart loading system of claim 1, the method comprising:
acquiring parameters of the material taking unit and parameters of a carrying space of carrying equipment;
determining a setting parameter of a stacking space of a stacking mechanism according to the parameter of the carrying space, wherein the setting parameter is used for adjusting the stacking mechanism to form the stacking space corresponding to the setting parameter;
determining a first stacking scheme according to the parameters of the material units and the parameters of the stacking space, wherein the first stacking scheme is used for stacking the material units in the stacking space, and the first stacking scheme is determined according to the parameters of the material units and the carrying space; the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in the stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution;
determining a first stacking distribution mode according to the parameters of the material units, the parameters of the stacking space and the stacking threshold value; traversing values of the material units which do not exceed the stacking threshold when the material units are stacked according to the parameters of the material units, the parameters of the stacking space and the stacking threshold to obtain a set of corresponding stacking distribution modes; calculating a stacking value corresponding to each distribution mode in the stacking distribution mode set, and determining a distribution mode with the optimal stacking value as a first stacking distribution mode;
determining a second stacking scheme according to the parameters of the stacking units and the parameters of the carrying space, wherein the second stacking scheme comprises a second stacking distribution mode and a second stacking sequence; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
6. The method of claim 5, wherein the first and second stacking profiles are further defined in a vertical direction.
7. A smart loading data management system applied to the smart loading system of claim 1, wherein the system comprises:
the parameter information management module is used for managing parameter information, the parameters of the material units and the parameters of the carrying spaces at least reflect the parameters of the material units and the parameters of the carrying spaces, and the parameters at least comprise size parameters;
a stacking scheme management module for managing stacking scheme information reflecting at least a first stacking scheme and a second stacking scheme determined according to parameters of the material unit and the carrying space;
a mapping relation management module, configured to manage a mapping relation between the parameter information and the stacking scheme information, where the mapping relation reflects a correspondence relation between a combination of a parameter of the material unit and a parameter of the carrying space and the first stacking scheme and the second stacking scheme;
the first stacking scheme and the second stacking scheme are determined according to parameters of the material units and parameters of the carrying space;
the first stacking scheme comprises a first stacking distribution mode and a first stacking sequence; the first stacking distribution mode refers to a distribution mode of stacking the material units in a stacking space, and the first stacking sequence refers to a stacking sequence of the material units in the stacking space; wherein the first stacking order is determined according to a first stacking distribution mode; the second stacking scheme comprises a second stacking pattern and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a collection of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution;
wherein, confirm first pile distribution mode, include: traversing values of the material units which do not exceed the stacking threshold when the material units are stacked according to the parameters of the material units, the parameters of the stacking space and the stacking threshold to obtain a set of corresponding stacking distribution modes; and calculating a stacking value corresponding to each distribution mode in the stacking distribution mode set, and determining the distribution mode with the optimal stacking value as a first stacking distribution mode.
8. The data management system of claim 7, wherein the parameters of the material units further comprise at least one of a weight parameter, a capacity parameter, a packaging parameter, a category parameter; the parameters of the carrying space further comprise at least one of a weight parameter, a capacity parameter, a weight limit parameter, a capacity limit parameter and an environment parameter;
the parameter information is parameter values of the material unit and the carrying space, or identification information or model information, and the identification information or the model information respectively reflects parameters of the carrying space of the material unit and the carrying equipment.
9. The data management system of claim 8, wherein the mapping relationship between the parameter information and the stacking scheme is specifically: and the corresponding relation between the parameters of the material unit and the parameters of the carrying space in each combination mode of the parameters of the material unit and the parameters of the carrying space and the corresponding first stacking scheme and second stacking scheme.
10. The data management system of claim 9, wherein a second stacking scheme is determined based on parameters of stacking units and parameters of the carrying space, the second stacking scheme including a second stacking distribution and a second stacking order; the second stacking distribution mode refers to a distribution mode of stacking of the stacking units in the carrying space, the second stacking sequence refers to a stacking sequence of the stacking units in the carrying space, and the stacking units refer to a set of material units stacked in the stacking space; wherein the second stacking order is determined according to a second stacking distribution.
11. A computer-readable storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method according to any one of claims 2-6.
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