CN112193706B

CN112193706B - Self-adaptive control method and warehousing control system applied to intelligent warehousing

Info

Publication number: CN112193706B
Application number: CN202011160955.5A
Authority: CN
Inventors: 魏巍; 郭源生; 包卿
Original assignee: Mingdu Zhiyun Zhejiang Technology Co Ltd
Current assignee: Mingdu Zhiyun Zhejiang Technology Co Ltd
Priority date: 2020-10-27
Filing date: 2020-10-27
Publication date: 2021-12-14
Anticipated expiration: 2040-10-27
Also published as: CN112193706A

Abstract

The invention discloses a self-adaptive control method and a storage control system applied to intelligent storage, which are used for controlling a car loader to stack and load material packages, and comprise the following steps: establishing a lane coordinate system, identifying the side edge length of a carriage of the vehicle to be loaded and the projection of the side edge length in the Y-axis direction of the lane coordinate system, and calculating the deviation angle between the carriage and the Y-axis direction of the lane coordinate system; acquiring first stacking coordinates of each material bag of the carriage in a correction area of a lane coordinate system; adjusting the first stacking coordinates of the material bags to be loaded in each layer according to the deviation angle to obtain second stacking coordinates; and controlling the car loader to carry out the throwing and stacking of the material bags to the car carriage to be loaded according to the second stacking coordinate of each material bag. Accomplish the driver and need not to adjust the vehicle gesture under the circumstances that the vehicle stopped partially, also can accomplish the pile up neatly loading smoothly to reduce driver's the degree of difficulty of stopping, improve loading efficiency.

Description

Self-adaptive control method and warehousing control system applied to intelligent warehousing

Technical Field

The invention relates to the field of intelligent warehousing, in particular to a self-adaptive control method and a warehousing control system applied to intelligent warehousing.

Background

Traditional factory bagged products, such as cement, fertilizer, flour and other manufacturing enterprises, often rely on the manpower to carry out the loading operation of bagged goods when the product is delivered. In particular, in the cement industry, most of the prior arts rely on workers in the car hopper to wait for the production line conveyor belt above the car hopper to convey cement. When conveyed bagged cement falls to the car hopper from the conveying belt, workers change the falling track of the bagged cement through manpower so as to fall to the expected position on the car hopper for loading. The main problem of the manual operation is that human bodies face the harm of cement dust, and along with the development of the society, fewer people are willing to go to work posts with severe working environments such as bagged cement loading, and the difficulty is caused to the production of enterprises. For solving above-mentioned difficulty, automatic product provider installs automatic loading aircraft nose additional through transforming based on the current bagged cement production transfer chain of cement factory, is connected this aircraft nose and conveyor belt and receives bagged cement, then moves the aircraft nose to appointed coordinate position, puts bagged cement again and falls in the car hopper to replace artifical bagged cement pile up neatly operation. On the automatic loading system with higher informatization level, loading control software provides control logic to guide the loading machinery to operate.

However, in the process of operation and implementation of the existing automatic material loading system, the requirement for vehicle stopping is very high, and if a driver stops the vehicle and deviates from a reference line too much, the material is easy to slip out of the vehicle. In order to solve the problem, the existing automatic loading system guides parking through visible laser by installing a plurality of guide laser lines in a parking area of a vehicle to be loaded, and if the deviation between a carriage and a reference laser line is large, a driver is required to park again until the vehicle body is basically matched with the reference line. However, some drivers often need to repeatedly stop and adjust for many times to accurately stop at the relevant positions, so that the loading time is occupied, and the delivery efficiency of a factory is influenced.

Disclosure of Invention

The invention provides a self-adaptive control method applied to intelligent storage, aiming at the defects in the prior art, which is used for controlling a car loader to stack and load material packages, and comprises the following steps:

s1, establishing a lane coordinate system, identifying the side edge length of the carriage to be loaded and the projection of the side edge length in the Y-axis direction of the lane coordinate system, and calculating the deviation angle between the carriage and the Y-axis direction of the lane coordinate system;

s2, acquiring first stacking coordinates of each material package of the carriage in a correction area of a lane coordinate system, wherein the correction area and a projection area of the carriage on the lane coordinate system have a coincidence end point, the length of the correction area is the projection length of the side face of the carriage on the Y axis of the lane coordinate system, and the width of the correction area is the projection width of the front end or the rear end of the carriage on the X axis of the lane coordinate system;

s3, adjusting the first stacking coordinates of the material bags to be loaded according to the deviation angle to obtain second stacking coordinates;

and S4, controlling the car loader to carry out the throwing and stacking of the material bags to the car carriage to be loaded according to the second stacking coordinate of the material bags.

Preferably, the step S2 includes:

acquiring a first endpoint coordinate of the carriage to be loaded, which is positioned at the upper right corner in a lane coordinate system;

taking the first endpoint coordinate as a coincidence endpoint to obtain a correction area, wherein each side of the correction area is respectively parallel to an X axis or a Y axis of a lane coordinate system, the length of the correction area is the projection length of the side surface of the carriage on the Y axis of the lane coordinate system, and the width of the correction area is the projection width of the front end or the rear end of the carriage on the X axis of the lane coordinate system;

the X-axis coordinate of each material bag in the lane coordinate system when being stacked to the correction area is calculated based on the effective loading width, the length of the material bag and the X-axis direction superposable limit, and the Y-axis coordinate of each material bag in the lane coordinate system when being stacked to the correction area is calculated based on the effective loading length, the width of the material bag and the Y-axis direction superposable limit.

Preferably, the step S3 specifically includes: and acquiring the number of rows and columns of the material bags required by each layer stacked to the correction area, and the row serial number and the column serial number of each material bag on the layer where the material bag is located, wherein the row serial number and the column serial number are increased leftwards and downwards by taking the coincident end point as an original point.

Preferably, the step S3 specifically includes: adjusting the first stacking coordinate of each layer of material bags to be loaded according to the deviation angle to obtain a second stacking coordinate, wherein:

A1 = A + (L * sina) * (R1 / Rt)；

b1 = B- (M × sina) (C1/Ct), where a is an X-axis coordinate in the first stacking coordinate of the material bag, a1 is an X-axis coordinate in the second stacking coordinate of the material bag, B is a Y-axis coordinate in the first stacking coordinate of the material bag, B1 is a Y-axis coordinate in the second stacking coordinate of the material bag, a is a deviation angle between a carriage and a Y-axis direction of a lane coordinate system, L is a carriage length given by the measurement system, M is a carriage width given by the measurement system, R1 is a row number of the material bag at the layer where the material bag is located, R is a total row number of the material bag at the layer where the material bag is located, C1 is a column number of the material bag at the layer where the material bag is located, and Ct is a total column number of the material bag at the layer where the material bag is located.

Preferably, the adaptive control method further includes: calculating an effective loading area S according to the deviation angle, wherein S = L + cosa + M + cosa, wherein L is the length of the carriage given by the measuring system, M is the width of the carriage given by the measuring system, and a is the deviation angle between the carriage and the Y-axis direction of the lane coordinate system; and judging whether the loading loss rate is greater than a preset threshold value according to the effective loading area, if so, stopping subsequent loading, and otherwise, controlling the car loader to carry out the throwing and stacking of the material bags to the car carriage to be loaded according to the second stacking coordinates of the material bags.

The invention also discloses a warehousing control system for loading material bags, which comprises: the vehicle detection module is used for establishing a lane coordinate system, acquiring coordinate data of a carriage to be loaded in the lane coordinate system, identifying the side edge length of the carriage to be loaded and the projection of the side edge length in the Y-axis direction of the lane coordinate system, and calculating the deviation angle between the carriage and the Y-axis direction of the lane coordinate system; the correction coordinate acquisition module is used for acquiring the side edge length of the carriage and the projection of the side edge length in the Y-axis direction of the lane coordinate system according to the coordinates of the carriage to be loaded in the lane coordinate system, and calculating the deviation angle between the carriage and the Y-axis direction of the lane coordinate system; adjusting the first stacking coordinates of the material bags to be loaded in each layer according to the deviation angle to obtain second stacking coordinates; and the car loader control module is used for controlling the car loader to carry out the throwing and stacking of the material bags to the car carriage to be loaded according to the second stacking coordinate of each material bag.

Preferably, the corrected coordinate acquiring module includes: the coincident end point acquisition module is configured to acquire a first end point coordinate of the to-be-loaded carriage positioned at the upper right corner in a lane coordinate system; a correction area acquisition module configured to acquire a correction area by using the first endpoint coordinate as a coincidence endpoint, wherein each side of the correction area is parallel to an X axis or a Y axis of a lane coordinate system, the length of the correction area is a projection length of the side surface of the carriage on the Y axis of the lane coordinate system, and the width of the correction area is a projection width of the front end or the rear end of the carriage on the X axis of the lane coordinate system; the material package original coordinate acquisition module is configured to calculate an X-axis coordinate of each material package in a lane coordinate system when the material packages are stacked to the correction area based on the effective loading width, the length of the material package and the X-axis direction stackable limit, and calculate a Y-axis coordinate of each material package in the lane coordinate system when the material packages are stacked to the correction area based on the effective loading width, the width of the material package and the Y-axis direction stackable limit.

Preferably, the corrected coordinate acquiring module further includes: the material package layout acquisition module is configured to acquire the number of rows and the number of columns of material packages required by stacking to each layer of the correction area, and the row serial number and the column serial number of each material package on the layer where the material package is located, wherein the row serial number and the column serial number are increased leftwards and downwards by taking the coincident end point as an origin.

The invention also discloses an adaptive control device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the method.

The invention also discloses a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as set forth in any one of the above.

The self-adaptive control method for controlling the car loader to stack and load the material packages obtains first stacking coordinates of the material packages of the carriage in a correction area of a lane coordinate system by calculating a deviation angle between the carriage and the lane coordinate system, and then adjusts the first stacking coordinates of the material packages of each layer to be loaded according to the deviation angle to obtain second stacking coordinates finally used for stacking and loading the material packages by the car loader. Accomplish the driver and need not to adjust the vehicle gesture under the circumstances that the vehicle stopped partially, also can accomplish the pile up neatly loading smoothly to reduce driver's the degree of difficulty of stopping, improve loading efficiency. Compared with the existing control method for adapting to vehicle inclination stopping by reserving allowance, the control method has the following advantages: (1) the utilization area of the carriage is higher, the allowance scheme is used for fixedly reserving the allowance of the carriage, and the vehicle fixedly loses a certain loading area no matter how large the parking deviation angle is; the self-adaptive inclination stopping method disclosed by the invention has the advantages that the loading area loss is related to the deviation angle, and the utilization rate is higher. (2) Greater parking deviations are tolerated: the existing method for fixing the reserved car allowance by the allowance scheme generally tolerates the parking deviation angle of about 3-5 degrees; the self-adaptive control method disclosed by the embodiment can tolerate 15-18-degree parking deviation, improves by 3-5 times, basically ensures that a driver can load the vehicle by parking once, greatly saves the loading time and improves the user experience. The adaptability is stronger: the existing method for fixing the allowance of the reserved carriage in the allowance scheme does not consider the length of the vehicle, and the allowance value set in the early stage is increased along with the lengthening of the vehicle body when the vehicle is in an overlong vehicle, although the angle is unchanged, the deviation of the vehicle is larger and larger, and the allowance value cannot guarantee that the material bag can always fall into the carriage. The self-adaptive control method disclosed by the embodiment can ensure that the materials can always fall in the carriage on the basis of the line-by-line adjustment of the angle along with the length of the carriage.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

fig. 1 is a schematic flow chart of an adaptive control method applied to smart warehousing according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of stacking material packages in a calibration area according to an embodiment of the present invention.

Fig. 3 is a schematic flowchart of step S2 according to an embodiment of the present invention.

Fig. 4 is a schematic flowchart of step S3 according to an embodiment of the present invention.

Fig. 5 is a schematic flowchart of step S5 according to an embodiment of the present invention.

Fig. 6 is a schematic flowchart of step S6 according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of adaptively adjusted stacking of material packages in a carriage according to an embodiment of the present invention.

Fig. 8 is a schematic view of lane coordinates according to an embodiment of the present invention.

Fig. 9 is a schematic top view angle display diagram according to an embodiment of the disclosure.

FIG. 10 is a side view schematic diagram of the display according to an embodiment of the disclosure.

FIG. 11 is a schematic diagram of a front-end display of an intelligent simulation procedure according to an embodiment of the present invention.

Fig. 12 is a schematic structural diagram of a warehousing control system according to an embodiment of the disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.

Bagged materials are widely distributed in the industries of agricultural products, chemical engineering, building materials and the like, the loading operation of domestic bagged materials at present mainly depends on manpower, the efficiency is low, the labor intensity is high, and the bagged materials are damaged along with a lot of dust. At present, industries such as cement and the like are increasingly organized to build a loading system which is environment-friendly, efficient, automatic and high in informatization level. In the current intelligent loading system working process, the requirement on vehicle stopping is very high, and if a driver stops and deviates from a reference line too much, materials can easily slip out of the vehicle. At present most loading scene is through installing a plurality of guide laser lines, guides parking through the visual laser of naked eye, and it is great to discover carriage and benchmark laser line deviation, then requires the driver to park again, until automobile body and benchmark line coincide basically. On some occasions, when a driver just contacts the system, the driver often needs to stop the system repeatedly, the user experience is poor, the loading time is occupied, and the delivery efficiency of factories such as cement factories is influenced. The invention provides a self-adaptive control method applied to intelligent warehousing for controlling a car loader to stack and load material packages, as shown in fig. 1, the self-adaptive control method specifically comprises the following steps:

step S1, a lane coordinate system is established, the side edge length of the carriage to be loaded and the projection of the side edge length in the Y-axis direction of the lane coordinate system are identified, and the deviation angle between the carriage and the Y-axis direction of the lane coordinate system is calculated.

The laser measurement system measures the included angle between the straight line direction from the vehicle head to the vehicle tail and the Y-axis direction of the lane coordinate system, which is the premise for self-adaptive code stack calculation. The laser measuring system can identify the edge of the carriage through the reflection distance difference between the edge of the carriage and the bottom of the carriage and the ground, an included angle a between the edge of the side face of the carriage and the Y-axis direction of a lane coordinate system is used as a parking deviation angle, one point of the edge of the carriage is arbitrarily taken as a parallel line in the X-axis direction of the lane coordinate system, a triangle can be obtained, the length of the hypotenuse of the triangle is L, the length of the vertical edge in the Y-axis direction is P, and L, P can be measured. The deviation angle a = arccos (P/L) can be calculated by an arccosine function.

Step S2, acquiring first stacking coordinates of each material bag of the carriage in a correction area of a lane coordinate system, wherein the correction area and a projection area of the carriage on the lane coordinate system have an overlapped endpoint, the length of the correction area is the projection length of the side face of the carriage on the Y axis of the lane coordinate system, and the width of the correction area is the projection width of the front end or the rear end of the carriage on the X axis of the lane coordinate system.

As shown in fig. 2, the calibration point of each layer and the calibration area of the layer are obtained, wherein the calibration area is the effective loading range of the car loader. The package falling posture of the stacking car loader falls according to a lane coordinate system, so that the package can not fall according to a certain angle; therefore, the loading width of the maximum effective loading range is the projection of the width of the carriage 1 in the X-axis direction, and the maximum effective loading length is the projection of the length of the carriage 1 in the Y-axis direction, i.e., the width and length of the correction area. The stacking coordinates of each packet of material 2 in the calibration zone are calculated using existing palletizing algorithms by calculating the effective loading area of the calibration zone.

As shown in fig. 3, the step S2 may specifically include:

and step S21, acquiring the first endpoint coordinate of the carriage to be loaded, which is positioned at the upper right corner in the lane coordinate system.

And step S22, taking the first endpoint coordinate as a coincidence endpoint to obtain a correction area, wherein each side of the correction area is respectively parallel to an X axis or a Y axis of a lane coordinate system, the length of the correction area is the projection length of the side surface of the carriage on the Y axis of the lane coordinate system, and the width of the correction area is the projection width of the front end or the rear end of the carriage on the X axis of the lane coordinate system.

And step S23, calculating the X-axis coordinate of each material bag in the lane coordinate system when being stacked to the correction area based on the effective loading width, the length of the material bag and the X-axis direction stackable limit, and calculating the Y-axis coordinate of each material bag in the lane coordinate system when being stacked to the correction area based on the effective loading length, the width of the material bag and the Y-axis direction stackable limit. Specifically, an upper right corner coincident end point measured by a laser measurement system is used as a calibration point, and an X coordinate of each bag is calculated based on parameters such as effective loading width, material bag length and X-direction superimposable limit; and calculating the Y coordinate of each pack based on the factors such as effective loading length, pack width, Y-direction superimposable limit and the like.

And step S3, adjusting the first stacking coordinates of the material bags to be loaded according to the deviation angle to obtain second stacking coordinates.

Specifically, the number of rows and the number of columns of material bags required for stacking to each layer of the correction area, and the row sequence number and the column sequence number of each material bag on the layer where the material bag is located are obtained, wherein the row sequence number and the column sequence number are increased leftwards and downwards by taking the coincident end point as an origin.

In a specific embodiment, the step S3 specifically includes: adjusting the first stacking coordinate of each layer of material bags to be loaded according to the deviation angle to obtain a second stacking coordinate, wherein:

A1 = A + (L * sina) * (R1 / Rt)；

As shown in fig. 4, the step S3 may specifically include:

and step S31, adjusting the X coordinate deviation value of each row of material bags according to the deviation angle.

The measurement system will give the car length L, the deviation angle a, and as shown the maximum difference between the lowest point at the bottom of the car and the Y-axis is Q, Q = L sin a. In each row of material bags stacked on the same layer, deviation in the x direction is increased row by row, and deviation value of each row is Q (R1/Rt), so that A1 = A + (L sin a) (R1/Rt).

And step S32, adjusting the Y coordinate deviation value of each row of material bags according to the deviation angle. Specifically, the maximum difference between the leftmost point of the vehicle compartment and the Y axis is N, and N = M × sin a. It can be seen from the figure that the deviation in the Y direction is increased row by row, and the deviation value of each column is N (C1/Ct). When the angle is positive, the offset is in the negative direction of the Y axis, so that the offset value of each column is negative and the original Y value is added.

B1 = B - (M * sin a) * (C1 / Ct)。

And step S4, controlling the car loader to carry out the throwing and stacking of the material bags to the car carriage to be loaded according to the second throwing coordinate of each material bag.

In some embodiments, the adaptive control method applied to the smart warehousing further comprises the following steps.

And step S5, comparing the X and Y coordinate values in the second stacking coordinate of each acquired material packet with the corresponding loading limit value respectively, and replacing the limit value coordinate with a corresponding coordinate value if the corresponding loading limit value is exceeded. Specifically, in order to avoid the situation that the adjusted second stacking coordinate value exceeds the loading range and the material bag slides out of the vehicle, the loading limit value is used for limiting the coordinate. In some embodiments, only the X coordinates of the first and last rows and the Y coordinates of the first and last columns of each layer may be limited. As shown in fig. 5, step S5 specifically includes the following steps.

And step S51, acquiring Y coordinates in second stacking coordinates of the material bags stacked on the first layer and the last layer, and X coordinates in the second stacking coordinates of the material bags stacked on the first layer and the last layer.

And step 52, retrieving and acquiring the front limit value and the tail limit value of the layer in the Y-axis direction and the left limit value and the right limit value in the X-axis direction from the database according to the sequence number of the layer.

Step S53, comparing the Y coordinate in the second stacking coordinate of the first row of material bags in the layer with the front limit value, comparing the Y coordinate in the second stacking coordinate of the tail row of material bags with the tail limit value, comparing the X coordinate in the second stacking coordinate of the leftmost row of material bags with the left limit value, comparing the X coordinate in the second stacking coordinate of the rightmost row of material bags with the right limit value, and replacing the coordinate value of the material bag with the smaller value in each comparison. Wherein the head row is close to the direction of the original point, the tail row is far away from the direction of the original point, the left column is far away from the direction of the original point, and the right column is close to the direction of the original point.

That is, the values of the corresponding second stacking coordinates of the edge material packet are adjusted as follows:

leftmost column a2 = Min (left, a 1);

right most column a2 = Min (right, a 1);

uppermost B2 = Min (topy, B1);

the lowest row B2 = Min (bottomy, B1), where left is the left-hand restriction value, right is the right-hand restriction value, copy is the front restriction value, and bottomy is the tail restriction value.

In other embodiments, the step S5 further includes:

and step S54, acquiring the height of the car to be loaded from the point cloud data of the car to be loaded acquired by the detection system, and dividing second stacking coordinates of the material bags of each layer into a first material bag group coordinate set and a second material bag group coordinate set according to the height of the car to be loaded. The number of layers of the material bags which can be stacked in the carriage can be determined according to the height of the carriage to be loaded according to the preset stacking coefficient of the material bags. Wherein the first material package group is the material package of piling up in waiting to load the carriage, and the second material package group is the material package of piling up on waiting to load the carriage.

Step S55, acquiring a front stacking difference value of a Y coordinate in a second stacking coordinate of the first row of material bags positioned at the bottom layer in the second material bag group and a Y coordinate in a second stacking coordinate of the first row of material bags positioned at the top layer in the second material bag group; a tail stacking difference value of a Y coordinate in a second stacking coordinate of the tail material bag positioned at the bottom layer in the second material bag group and a Y coordinate in a second stacking coordinate of the tail material bag positioned at the top layer in the second material bag group; the X coordinate in the second stacking coordinate of the left row of material bags positioned at the bottom layer in the second material bag group is different from the left row stacking coordinate of the X coordinate in the second stacking coordinate of the left row of material bags positioned at the top layer in the second material bag group; and the X coordinate in the second stacking coordinate of the right row of material bags positioned at the bottom layer in the second material bag group and the right row stacking difference value of the X coordinate in the second stacking coordinate of the right row of material bags positioned at the top layer in the second material bag group.

And step S56, when the front stacking difference or the tail stacking difference is larger than a longitudinal limit value, or the left row stacking difference or the right row stacking difference is larger than a transverse limit value, adjusting the coordinates of the material bag exceeding the corresponding limit value. Wherein, vertical limit value and horizontal limit value are the biggest default that upper material package is horizontal or vertically surpasss lower layer material package, and wherein this vertical limit value or horizontal limit value also can be the negative value, and the negative value indicates that upper material package is horizontal or vertically need to be retracted in lower layer material package border promptly. Thereby preventing the problem that the upper material bag slips off.

The second stacking coordinate of the material bags positioned on the edges of the four sides of the second material bag group is audited, and the difference value between the longitudinal limit value and the transverse limit value is found in advance to possibly generate the material bags stacked in a sliding manner, and the second stacking coordinate is adjusted, so that the problem that the upper material bags slide is prevented from occurring.

In other embodiments, the adaptive control method for controlling the car loader to pallet and load the material packages further includes step S6: and confirming the placing state of the material bags positioned at the periphery of the bottom layer in the second material bag group according to the deviation angle. As shown in fig. 6, step S6 specifically includes:

step S61, obtaining the placing posture of the bottom material bag in the second material bag group, judging whether the deviation angle is larger than a first threshold value when the bottom material bag is placed longitudinally, and if the deviation angle is larger than the first threshold value, cancelling the placement of the leftmost material bag and the rightmost material bag; and if the deviation angle is larger than a second threshold value, the first row of material bags and the tail row of material bags are cancelled.

Step S62, when the material bags on the layer are placed transversely, judging whether the deviation angle is larger than a first threshold value, and if so, cancelling the placement of the material bags in the first row and the material bags in the last row; and if the deviation angle is larger than a second threshold value, the placement of the leftmost row of material bags and the rightmost row of material bags is cancelled.

The first threshold value and the second threshold value are preset values which are set according to the fact that the material bags are stacked above the loading carriage without being guaranteed to be placed stably and not slide, and due to the fact that the number of the stacked material bags is maximized, one part of the material bags stacked on the outermost side above the loading carriage can exceed the volume of the suspended state in the carriage, and the situation that the bag-loaded materials are unstable and slide when the deviation angle of the material bags is larger than the preset value is likely to happen. The first threshold value is the maximum deviation value of the bagged objects which can be kept stable when the transverse state exceeds the stacking of the carriages, and the second threshold value is the maximum deviation value of the bagged objects which can be kept stable when the longitudinal state exceeds the stacking of the carriages.

After adaptive calculation of coordinate pair deviation, the final stacking position of the cement package is adjusted as shown in fig. 7, each package still falls in an ideal state due to mechanical limitation, but Y coordinates of the material packages in the same row are completely different, and X coordinates of the material packages in the same column are also completely different.

In other embodiments, the adaptive control method further includes step S7: and calculating an effective loading area S according to the deviation angle, wherein S = L cosa M cosa, judging whether the loading loss rate is greater than a preset threshold value according to the effective loading area, if so, stopping subsequent loading, and otherwise, controlling the loading machine to carry out material bag feeding and stacking to the loading compartment to be loaded according to a second stacking coordinate of each material bag. Based on the above algorithm, when the parking is deviated, the effective loading area has a certain loss, and the maximum loading area loss can be regarded as a configurable item, for example, we consider the loss within 5% to be acceptable, so that the acceptable maximum angle deviation can be calculated, wherein x y 0.95 > = x cos a y cos a, namely 0.9 > = cos a; the maximum parking deviation angle is calculated to be about 18 degrees. When the parking deviation exceeds 18 degrees, the system gives an alarm to prompt the driver to park again.

The embodiment discloses a self-adaptive control method applied to intelligent warehousing, which is used for controlling a car loader to stack and load material packages, and calculating a deviation angle between a carriage and a lane coordinate system; and then adjusting the first stacking coordinates of the material bags to be loaded according to the deviation angle to obtain second stacking coordinates finally used for stacking and loading by a loader. Accomplish the driver and need not to adjust the vehicle gesture under the circumstances that the vehicle stopped partially, also can accomplish the pile up neatly loading smoothly to reduce driver's the degree of difficulty of stopping, improve loading efficiency. Compared with the existing control method for adapting to vehicle inclination stopping by reserving allowance, the control method has the following advantages: the utilization area of the carriage is higher, the allowance scheme is used for fixedly reserving the allowance of the carriage, and the vehicle fixedly loses a certain loading area no matter how large the parking deviation angle is; the existing self-adaptive inclination stopping method has the advantages that the loading area loss is related to the deviation angle, and the utilization rate is higher. Greater parking deviations are tolerated: the existing method for fixing the reserved car allowance by the allowance scheme generally tolerates the parking deviation angle of about 3-5 degrees; the self-adaptive control method disclosed by the embodiment can tolerate 15-18-degree parking deviation, improves by 3-5 times, basically ensures that a driver can load the vehicle by parking once, greatly saves the loading time and improves the user experience. The adaptability is stronger: the existing method for fixing the allowance of the reserved carriage in the allowance scheme does not consider the length of the vehicle, and the allowance value set in the early stage is increased along with the lengthening of the vehicle body when the vehicle is in an overlong vehicle, although the angle is unchanged, the deviation of the vehicle is larger and larger, and the allowance value cannot guarantee that the material bag can always fall into the carriage. The self-adaptive control method disclosed by the embodiment can ensure that the materials can always fall in the carriage on the basis of the line-by-line adjustment of the angle along with the length of the carriage.

In other specific embodiments, the self-adaptive control method for controlling a car loader to stack and load material packages further includes a step of simulating a car loading process for controlling the car loader to put the material packages into a car compartment, and specifically includes:

and step S7, acquiring stacking information of each material package in a lane coordinate system and a moving path coordinate of the car loader when corresponding to the material package, wherein the stacking information includes but is not limited to the coordinates of the material package in the lane coordinate system, a package falling sequence number, a layer number, a row number and a row number.

And calculating the coordinates of each material bag in a lane coordinate system and the walking coordinates of the car loader when the material bags are stacked according to the lane parameters, the stacking parameters, the vehicle model data, the material bag specifications, the order data and other data. The lane parameters, the stack type parameters and the material package specifications in the data are pre-configured parameters and are main objects for parameter adjustment, and the parameters can be adjusted from a database during simulation. The order data contains information such as the type of the purchased material and the purchase quantity, the information quantity is small, and the order data can be manually filled in when the simulation is started. The vehicle model data is measured by a measuring system, but there is usually no vehicle in simulation, and the vehicle is not required to be scheduled to measure in a time-consuming and labor-consuming manner. During simulation, according to test requirements, lane parameters, stack type parameters, material package specifications and vehicle type data are combined, order data are filled in to serve as simulation input, and simulation output is coordinates of each material package in a lane coordinate system.

And step S8, constructing a first canvas and a second canvas, arranging a vehicle top view on the first canvas and a vehicle side view on the second canvas according to the vehicle point cloud data, and acquiring a first adjusting parameter and a second adjusting parameter of the lane coordinate system and the first canvas coordinate system and the second canvas coordinate system.

Specifically, entities involved in the loading process include lanes, vehicles, material bags and a loader, and the intelligent warehousing system simulation method dynamically shows the relationship among the entities through graphs. In designing a lane coordinate system, to reduce coordinate transformation, it is usually ensured that the vehicle is in the first quadrant when establishing the coordinate system. A person standing in front of a lane is used as a reference object, and a point on the left side of a lane entrance is selected as an origin. As shown in fig. 8, the direction from the origin to the rear of the vehicle is the Y direction, the direction from the origin to the right is the X direction, and the direction from the origin to the second floor is the Z direction. The entities of the vehicle, the material package and the car loader are three-dimensional, and have a relation in X, Y, Z three directions, so that the relation cannot be completely expressed by using a two-dimensional coordinate system. In the embodiment, two-dimensional coordinate systems are constructed to express the three-dimensional relationship between the entities from two angles of top view and side view. Two canvases, namely a first canvas and a second canvas are respectively constructed at the same time to respectively describe patterns in a two-dimensional coordinate system, wherein the patterns in the two-dimensional coordinate system in the X, Y axis direction, namely the top view angle, can be described in the first canvas, and the patterns in the two-dimensional coordinate system in the Y, Z axis direction, namely the side view angle, can be described in the second canvas. The top view angle refers to the relation between the observation entities in the direction X, Y when the observer looks down from the second floor, and as shown in fig. 9, in this coordinate system, the relation between the material packages and the vehicle can be observed. Side viewing angle refers to the relationship between the observer standing on the side of the main cab and viewing entity in direction Y, Z. In this coordinate system, the relationship between the package and the bag, the relationship between the package and the vehicle, the relationship between the vehicle and the lane, the relationship between the car loader and the vehicle, and the relationship between the car loader and the package can be observed, as shown in fig. 10. The side viewing angle allows for more entities and relationships between entities to be observed.

Rendering entities within a first canvas: the overlooking coordinate system mainly draws two entities of a vehicle and a material bag, wherein the vehicle is mainly drawn as a carriage part. In this embodiment, an HTML5 Canvas technology is adopted to draw animation, the Canvas uses a point at the upper left corner of the screen as an origin, the X direction is from the origin to the right of the screen, the Y direction is from the origin to the lower side of the screen, the coordinates of Canvas and the X, Y coordinate system of the lane have a large difference, the X axis of the Canvas corresponds to the Y axis of the lane, and the Y axis of the Canvas corresponds to the X axis of the lane. Coordinate system conversion is needed before the lane coordinates are drawn on the canvas.

As the space for drawing the vehicle head needs to be reserved, a larger space needs to be reserved in the X-axis direction of the canvas. The conversion relationship between the canvas origin (x0, y0) and the lane origin (x1, y 1) is set to (x0 = y1+ a, y0 = x1+ B), where (a, B) is a first adjustment parameter preset for reserving a drawing vehicle head space, and any coordinate in the lane coordinate system can be converted to the first canvas coordinate system through the mapping relationship.

Firstly, drawing a carriage on a canvas: the carriage comprises three parts of a vehicle edge, a C-shaped opening and a middle bulge. The measuring system can measure the coordinates of the carriage close to the upper corner of the original point, the carriage length, the carriage width, the C-shaped opening length, the initial point coordinates of the middle protrusion, the length and the width of the middle protrusion. Based on these data, we perform the generation of the car entity in the top-view coordinate system using the following rules:

drawing a carriage rectangle by taking the coordinates of the carriage, which are close to the upper corner of the original point, as starting points, the length of the carriage is long, and the width of the carriage is wide;

drawing a thick C-shaped edge line on the carriage by taking the coordinate of the carriage, which is close to the upper corner of the origin, as the starting point and the length of the C-shaped opening as the length;

drawing a thick C-shaped edge line under the carriage by taking the coordinate of the lower corner of the carriage close to the origin as a starting point and the length of the C-shaped opening as a long point;

and drawing a middle protrusion rectangle by taking the coordinates of the starting point of the middle protrusion as the starting point, the length of the middle protrusion as the length and the width of the middle protrusion as the width.

Rendering the entity within the second canvas: the side-view coordinate system mainly comprises three entities, namely a vehicle, a material package and a car loader, wherein the vehicle is mainly drawn as a carriage part. The present embodiment renders animation using HTML5 Canvas technology. Canvas uses the point in the upper left corner of the screen as the origin, and is the X direction from the origin to the right of the screen, and is the Y direction from the origin to the lower side of the screen, and the Canvas has a great difference in coordinate and Y, Z coordinate system of the lane, and the Canvas has an X axis corresponding to the Y axis of the lane, and a Y axis corresponding to the Z axis of the lane and having opposite directions. Coordinate system conversion is required before drawing the lane (Y, Z) coordinates on the canvas.

As the space for generating the vehicle head needs to be reserved, a larger space needs to be reserved in the X-axis direction of the canvas, and the origin value of the lane Z corresponds to the maximum value of the canvas in the Y direction. The conversion relation between the canvas origin (x2, y2) and the lane origin (y1, z1) is set to (x2 = y1+ a, y2 = C-z1), wherein (a, C) is a second adjustment parameter preset for reserving the drawing vehicle head space, and any coordinate in the lane coordinate system can be converted to a second canvas coordinate system through the mapping relation.

The car is generated on the canvas firstly: because the middle bulge is shielded and the height of the middle bulge does not exceed the vehicle head, the carriage comprises a vehicle edge, a C-shaped opening and a vehicle tail. The measuring system can measure the coordinates of the carriage close to the upper corner of the original point, the carriage length, the carriage height, the tail height and the length of the C-shaped opening, and the following method is adopted for drawing the carriage entity in a side-view coordinate system:

and drawing a carriage rectangle by taking the coordinates of the carriage, which are close to the upper corner of the original point, as the starting point, the length of the carriage as the length and the height of the carriage as the width.

The x coordinate of the starting point of the C-shaped opening is the same as the x coordinate of the carriage, the y coordinate of the starting point of the C-shaped opening is the y coordinate of the carriage, the height of the carriage is the starting point, the length of the C-shaped opening is long, the height of the carriage is wide, and the C-shaped raised rectangle on the carriage is drawn. The thick line is drawn with the angular coordinate of the bottom of the tail of the car as the starting point and the length (tail height-bottom height of the car) as the length.

Generating a car loader within a second canvas: in this embodiment, the coordinates of the moving path of the car loader corresponding to each material pack are already calculated. According to the specific volume parameters of the car loader, the side surface of the car loader is trapezoidal, the car loader protrudes towards the car head, the width of the upper edge, the width of the bottom edge and the height of the bottom edge are fixed, and the package falling position of the car loader is located at the position of the long edge 1/3 at the bottom. And taking an upper angular point close to the origin as a starting point, and generating a trapezoid in the second canvas by using the determined upper edge width, bottom edge width and height to represent the car loader.

And step S9, converting the coordinates in the material bag lane coordinate system into a first canvas coordinate and a second canvas coordinate according to the stacking information of the material bag and the first and second adjusting parameters, and sequentially sending the first canvas coordinate and the second canvas coordinate to the image display device according to the falling bag serial number of the material bag to update the canvas data in the first canvas and the second canvas.

When the car loading process of putting the material package into the vehicle carriage to the carloader is simulated, the top view and the side view of the vehicle and the corresponding bag-packed material loading process need to be respectively drawn by using two different canvases of a first canvas and a second canvas, but because the displayed object is the same object, the coordinate systems in the two canvases need to be synchronously changed and displayed, so that the multi-angle expression of the same object is realized. Specifically, the background pushes data determined by the current environment, such as vehicle size information, material package size information and car loader size information, to the front end through a websocket communication protocol. And then, pushing detailed data of the material bags, such as coordinates, a falling bag serial number, a layer number, a row number and the like of the material bags in a lane coordinate system to the front end one by one, and performing data processing conversion on the same data according to the requirements of two different coordinate systems by the front end according to the received loading data.

In some embodiments, the step S3 includes:

and step S91, calculating the center coordinates of all material bags, and converting the center coordinates in the lane coordinate system of the material bags into a first canvas coordinate and a second canvas coordinate by combining the pre-configured material bag specification.

Obtaining the central coordinates (x and y) of the material package, converting the central coordinates of the material package into first canvas coordinates (y1+ A, x1+ B) according to first adjusting parameters (A and B) preset for generating a vehicle head space for reservation, and drawing a rectangle on the first canvas by taking the point as a starting point, the width of the material package as a length and the length of the material package as a width, wherein the upper left-hand coordinates of the material package close to the origin point are ((y1+ A-material package length/2), (x1+ B-material package/2)). According to second adjusting parameters (A, C) preset for generating a vehicle head space, the center coordinates of the material package are converted into second canvas coordinates (y1+ A, C-z1) through the mapping relation, the coordinates of the upper left corner of the material package close to the origin are ((y1+ A-material package length/2), (C-z 1-material package height/2)), and the point is taken as a starting point, the width of the material package is taken as the length, and the height of the material package is taken as the width, and a rectangle is drawn on the second canvas.

And step S92, sequentially drawing material package areas on corresponding canvases according to the package falling sequence numbers according to the first canvas coordinate and the second canvas coordinate of the material package, and setting display parameters different from adjacent layers in the material package areas. Specifically, the material package area corresponding to the first canvas or the second canvas where the material packages with the same layer number are located can be provided with the same display parameter setting. Different display parameter settings are selected for use through two adjacent layers, for example, the material packages on the odd layers are filled in a green mode, and the material packages on the even layers are filled in a light blue mode, so that the number of the material packages can be accurately distinguished when the material packages are stacked layer by layer.

In some embodiments, the step S32 further includes:

step S921, obtain this time the second layer number and the second row number of material package to and the first layer number and the first row number of preceding material package, if the second layer number equals first layer number and the second row number equals first row number, then not newly add the material package region on the second canvas.

Step S922, if the second row number is not equal to the first row number or the second layer number is not equal to the first layer number, newly adding a corresponding material package area on the second canvas according to the material package second canvas coordinate.

In the second canvas, namely the carriage side view display state, the relationship between the side layers of the material package and the superposition relationship between the front row and the rear row are mainly displayed, wherein the row number of each layer needs secondary processing calculation. Specifically, because look sideways at, the regional production of the material package of the same row of same layer overlaps, begins to generate this material package region promptly when the first material package of this row falls, and follow-up material package with arranging falls, only deepens this rectangular region colour. The calculation formula of the rectangular coordinates of the material pack in the side view is as follows.

x2 = x - package.width/2 ;

y2 = current_layer * package.height。

The width of the material bag is used as the width, and the height of the material bag is used as the length to draw a rectangle representing the material bag: x and y transmitted by the background are central coordinates of the material bag, wherein the length of the material bag is package.

Through the steps, the display data of the two material packages on the first canvas coordinate system and the second canvas coordinate system are obtained, the two material package data are synchronously started and rendered on the two canvases respectively, and the effect of collaborative display of the two coordinate systems is achieved.

In this embodiment, in a dynamic simulation process performed on a material package putting process of a car loader, a background continuously pushes bagged material package data to a front end through a websocket, and the data is stored in a json format, which is as follows:

{

“coordinate”: {

x is value,// x coordinate of center of bagged material packet

Value,// small y coordinate in the bagged material packet

Z-coordinate of the loader when placing bagged material bag

},

Sequence value,// number of bag falling

Layer, value,// layer number where the bagged material packet is located

"column"// column number where the bagged material packet is located

"row": value,// row number where the bagged material packet is located

Value/direction of the bag of the bagged material

}

In the loading simulation process of the material bags, data are cached at the front end, and the material bag data are stored in a two-dimensional array form. Wherein the two-dimensional array comprises a two-dimensional array of look-down package information for the first canvas and a two-dimensional array of side view package information for the second canvas. Wherein each layer of the first-level array of the two-dimensional array of the overlooking material bag information occupies one array subscript, and each bagged material bag of the second-level array occupies one array subscript. And each layer of the first-level array of the side-looking two-dimensional array of the material package information occupies one array subscript, and each row of the second-level array occupies one array subscript.

After a highlight instruction for a certain layer of the material package is received, regenerating each material package display area in the first canvas, and specifically comprising the following steps:

step S901, first, hide the display layer of the raw material packet.

And S902, acquiring the material package data of the layer from the two-dimensional array of the overlooking material package information according to the layer number, and drawing the relation between the material packages of the layer based on the data.

And step S903, taking out all data from the array of the row number of the bagged material packages, setting other irrelevant layer areas to be in a transparent state, and adjusting the material package areas with the appointed layer number to be preset display parameters.

As shown in fig. 11, an original image layer is hidden, bagged material data of the layer is obtained from a two-dimensional array of overlooking bagged material information according to layer numbers, and the relation between the material packets of the layer is drawn based on data; and all data are taken out from the array of the rows of the bagged material bags, the middle of other layers is filled to be transparent, and the middle of the focusing layer is filled to be light blue, so that the effect of highlighting the appointed layer is presented.

The self-adaptive control method for controlling the car loader to stack and load the material bags is additionally used for simulating the car loading process of controlling the car loader to put the material bags into the car carriage, hardware equipment control can be omitted, the stack type parameters and the lane parameters can be judged whether to be reasonable or not efficiently through pure software simulation, and the stack type parameters and the lane parameters can be determined quickly according to customer requirements and site environments. Meanwhile, the method supports a simulation mode of driving the car loader, the PLC program of the car loader in the simulation mode develops an idle running program, the car loader is allowed to move under the condition that a feeding belt has no material, and the operation logic is completely consistent with that under the normal condition. After the loading system calculates coordinates of the bagged material packages, the coordinates are sent to a loading machine, and then the loading machine is driven to move according to the coordinates under the condition that no cement package exists. And when the system issues the coordinates of the bagged materials, the coordinates of the car loader are modified, then the stacking progress of the car loader is inquired in real time, and if the inquired stacking of the bagged materials is finished, the bagged materials are drawn, so that the effect of synchronous display of mechanical operation and animation of the car loader is realized. A user can simultaneously observe the walking position of the car loader, the car loading animation and the PLC monitoring interface parameter through the terminal, and judge whether the PLC program of the car loader operates normally. According to the intelligent warehousing system simulation method, the whole loading process and the relation among all entities in the lane in the loading process are quickly presented on software through animation simulation, so that the project can be promoted to quickly land without high coordination complexity work of scheduling vehicles and coordinating lane idle time.

The invention also discloses a warehousing control system for material package loading, which comprises a vehicle detection module 3, a correction coordinate acquisition module 4 and a car loader control module 5, wherein the vehicle detection module 3 is used for establishing a lane coordinate system, acquiring coordinate data of a carriage to be loaded in the lane coordinate system, identifying the side edge length of the carriage to be loaded and the projection of the side edge length in the Y-axis direction of the lane coordinate system, and calculating the deviation angle between the carriage and the Y-axis direction of the lane coordinate system, as shown in figure 12; the correction coordinate acquisition module 4 is used for acquiring the side edge length of the carriage and the projection of the side edge length in the Y-axis direction of the lane coordinate system according to the coordinates of the carriage to be loaded in the lane coordinate system, and calculating the deviation angle between the carriage and the Y-axis direction of the lane coordinate system; adjusting the first stacking coordinates of the material bags to be loaded in each layer according to the deviation angle to obtain second stacking coordinates; and the car loader control module 5 is used for controlling the car loader to carry out the throwing and stacking of the material bags to the car carriage to be loaded according to the second stacking coordinate of the material bags.

In this embodiment, the corrected coordinate acquiring module 4 includes: the coincident end point acquisition module is configured to acquire a first end point coordinate of the to-be-loaded carriage positioned at the upper right corner in a lane coordinate system; a correction area acquisition module configured to acquire a correction area by using the first endpoint coordinate as a coincidence endpoint, wherein each side of the correction area is parallel to an X axis or a Y axis of a lane coordinate system, the length of the correction area is a projection length of the side surface of the carriage on the Y axis of the lane coordinate system, and the width of the correction area is a projection width of the front end or the rear end of the carriage on the X axis of the lane coordinate system; the material package original coordinate acquisition module is configured to calculate an X-axis coordinate of each material package in a lane coordinate system when the material packages are stacked to the correction area based on the effective loading width, the length of the material package and the X-axis direction stackable limit, and calculate a Y-axis coordinate of each material package in the lane coordinate system when the material packages are stacked to the correction area based on the effective loading width, the width of the material package and the Y-axis direction stackable limit.

In this embodiment, the corrected coordinate obtaining module 4 further includes: the material package layout acquisition module is configured to acquire the number of rows and the number of columns of material packages required by stacking to each layer of the correction area, and the row serial number and the column serial number of each material package on the layer where the material package is located, wherein the row serial number and the column serial number are increased leftwards and downwards by taking the coincident end point as an origin.

Since the functions and specific compositions of the modules of the warehousing control system for loading the material bags correspond to those of the foregoing description of the embodiment of the adaptive control method for intelligent warehousing one by one, detailed descriptions are not provided herein, and specific functions and effects of the system can be obtained by referring to the foregoing embodiment of the adaptive control method.

The invention also discloses another embodiment of the self-adaptive control device applied to the intelligent warehousing, which comprises a memory, a processor and a computer program, such as loading control software, stored in the memory and capable of running on the processor. And when the processor executes the computer program, the steps in the self-adaptive control method embodiment for controlling the car loader to stack and load the material packages are realized.

Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the server.

The server may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a server and is not intended to limit the server device, and that it may include more or less components than those shown, or some components may be combined, or different components, for example, the server device may also include input output devices, network access devices, buses, etc.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center of the server device and connects the various parts of the overall server device using various interfaces and lines.

The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the server device by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like, and the memory may include a high speed random access memory, and may further include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

The adaptive control method, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made in the claims of the present invention should be covered by the claims of the present invention.

Claims

1. The utility model provides a be applied to self-adaptation control method of intelligent storage for control carloader carries out pile up neatly loading to the material package, its characterized in that includes:

s2, acquiring first stacking coordinates of each material package of the carriage in a correction area of a lane coordinate system, wherein the correction area and a projection area of the carriage on the lane coordinate system have a coincidence end point, the length of the correction area is the projection length of the side face of the carriage on the Y axis of the lane coordinate system, and the width of the correction area is the projection width of the front end or the rear end of the carriage on the X axis of the lane coordinate system; the step S2 includes:

calculating the X-axis coordinate of each material bag in a lane coordinate system when being stacked to the correction area based on the effective loading width, the length of the material bag and the X-axis direction stackable limit, and calculating the Y-axis coordinate of each material bag in the lane coordinate system when being stacked to the correction area based on the effective loading length, the width of the material bag and the Y-axis direction stackable limit;

2. An adaptive control method according to claim 1, characterized in that: the step S3 specifically includes:

and acquiring the number of rows and columns of the material bags required by each layer stacked to the correction area, and the row serial number and the column serial number of each material bag on the layer where the material bag is located, wherein the row serial number and the column serial number are increased leftwards and downwards by taking the coincident end point as an original point.

3. An adaptive control method according to claim 2, characterized in that: the step S3 specifically includes:

adjusting the first stacking coordinate of each layer of material bags to be loaded according to the deviation angle to obtain a second stacking coordinate, wherein:

A1 = A + (L * sina) * (R1 / Rt)；

4. The adaptive control method according to claim 3, further comprising:

calculating an effective loading area S according to the deviation angle, wherein S = L + cosa + M + cosa, wherein L is the length of the carriage given by the measuring system, M is the width of the carriage given by the measuring system, and a is the deviation angle between the carriage and the Y-axis direction of the lane coordinate system;

and judging whether the loading loss rate is greater than a preset threshold value according to the effective loading area, if so, stopping subsequent loading, and otherwise, controlling the car loader to carry out the throwing and stacking of the material bags to the car carriage to be loaded according to the second stacking coordinates of the material bags.

5. A bin control system for material pack loading, comprising:

the vehicle detection module is used for establishing a lane coordinate system, identifying the side edge length of a carriage to be loaded and the projection of the side edge length in the Y-axis direction of the lane coordinate system, and calculating the deviation angle between the carriage and the Y-axis direction of the lane coordinate system;

the calibration coordinate acquisition module is used for acquiring first stacking coordinates of each material package of the carriage in a calibration area of a lane coordinate system, the calibration area and a projection area of the carriage on the lane coordinate system have a coincident end point, the length of the calibration area is the projection length of the side face of the carriage on the Y axis of the lane coordinate system, and the width of the calibration area is the projection width of the front end or the rear end of the carriage on the X axis of the lane coordinate system; adjusting the first stacking coordinates of the material bags to be loaded in each layer according to the deviation angle to obtain second stacking coordinates; the correction coordinate acquisition module includes: the coincident end point acquisition module is configured to acquire a first end point coordinate of the to-be-loaded carriage positioned at the upper right corner in a lane coordinate system; a correction area acquisition module configured to acquire a correction area by using the first endpoint coordinate as a coincidence endpoint, wherein each side of the correction area is parallel to an X axis or a Y axis of a lane coordinate system, the length of the correction area is a projection length of the side surface of the carriage on the Y axis of the lane coordinate system, and the width of the correction area is a projection width of the front end or the rear end of the carriage on the X axis of the lane coordinate system; the material bag original coordinate acquisition module is configured to calculate an X-axis coordinate of each material bag in a lane coordinate system when the material bags are stacked to the correction area based on the effective loading width, the length of the material bags and the X-axis direction stackable limit, and calculate a Y-axis coordinate of each material bag in the lane coordinate system when the material bags are stacked to the correction area based on the effective loading width, the width of the material bags and the Y-axis direction stackable limit;

and the loading machine control module is used for controlling the loading machine to carry out the throwing and stacking of the material bags to the loading compartment to be loaded according to the second stacking coordinate of each material bag.

6. The warehouse control system of claim 5, wherein the corrected coordinate acquisition module further comprises:

the material package layout acquisition module is configured to acquire the number of rows and the number of columns of material packages required by stacking to each layer of the correction area, and the row serial number and the column serial number of each material package on the layer where the material package is located, wherein the row serial number and the column serial number are increased leftwards and downwards by taking the coincident end point as an origin.

7. An adaptive control apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: the processor, when executing the computer program, realizes the steps of the method according to any of claims 1-4.

8. A computer-readable storage medium storing a computer program, characterized in that: the computer program realizing the steps of the method according to any of claims 1-4 when executed by a processor.