CN114890173A - Cargo loading method and device, computer equipment and storage medium - Google Patents
Cargo loading method and device, computer equipment and storage medium Download PDFInfo
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- 238000011068 loading method Methods 0.000 title claims abstract description 73
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- 238000004590 computer program Methods 0.000 claims description 14
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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Abstract
The application relates to a cargo loading method and a cargo loading device. The method comprises the following steps: acquiring size information of goods of a container and a pallet; selecting a placing mode of the goods of at least one pallet according to the size information of the goods of the container and the pallet; placing the goods of at least one tray in a temporary loading area outside the container by using a forklift, wherein the placing mode of the goods of at least one tray in the temporary loading area is consistent with the selected placing mode; and transferring the goods of at least one pallet in the temporary loading area to the container by using a forklift. The method can realize automatic loading of the goods, and the placing mode of the goods is adjusted according to the size of the container and the size of the goods, so that the space utilization rate of the container is improved.
Description
Technical Field
The application relates to the technical field of logistics transportation, in particular to a cargo loading method, a cargo loading device, computer equipment and a storage medium.
Background
With the rapid development of the logistics industry, the requirement on the logistics transportation efficiency is higher and higher, and the cargo loading is an essential link in the logistics transportation. How to realize the automatic loading of goods to improve the space utilization of packing box, be the problem that needs to solve at present urgently.
In the conventional art, transport the goods to the freight train by manual operation fork truck on, however because manual operation may not be normal to make putting of goods have the uncertainty, probably can make goods in the packing box unordered putting, thereby lead to the putting mode of goods and the profile of packing box inner space not corresponding, make the space utilization of packing box low.
Disclosure of Invention
In view of the above, it is necessary to provide a cargo loading method, a cargo loading apparatus, a computer device, and a storage medium, which can improve the utilization rate of the container space.
A method of loading cargo, the method comprising: acquiring size information of goods of a container and a pallet; selecting a placing mode of the goods of at least one pallet according to the size information of the goods of the container and the pallet; placing the goods of at least one pallet in a temporary loading area outside the container by using a forklift, wherein the placing mode of the goods of at least one pallet in the temporary loading area is consistent with the selected placing mode; transferring the goods of at least one pallet in the loading buffer area into the container by using a forklift.
In one embodiment, the obtaining the size information of the cargo of the container and the pallet comprises: acquiring first laser scanning data obtained by scanning of a laser scanner on the inlet side of the cargo box; searching point cloud data of the edge of the inlet side of the container in the first laser scanning data to obtain the orientation and the distance of two groups of opposite edges opposite to the inlet side of the container relative to the laser scanner; determining a width of the cargo box based on an orientation and a distance of two shorter sides of the inlet side of the cargo box relative to the laser scanner; acquiring second laser scanning data obtained by scanning the laser scanner on two adjacent sides of goods on a tray; searching point cloud data of each side edge of the goods of a pallet in the second laser scanning data to obtain the direction and distance of two adjacent side edges of the goods of the pallet relative to the laser scanner; determining the length and width of the goods of a pallet based on the orientation and distance of two adjacent sides of the goods of a pallet relative to the laser scanner.
In one embodiment, when the number of the goods is an even number, the selecting the placement mode of the goods of at least one pallet according to the size information of the goods of the container and the pallet comprises: if the difference between the width of the container and the two times of the safety distance is larger than the two times of the length of the goods of one pallet, selecting a placing mode that the length direction of the goods of each pallet is parallel to the width direction of the container; if the difference between the width of the container and the two times of safety distance is less than or equal to two times of the length of the goods of one pallet and is greater than the sum of the length and the width of the goods of one pallet, selecting a placing mode that the length directions of the goods of two adjacent pallets in the same row are mutually vertical and the length directions of the goods of two adjacent pallets in the same column are mutually vertical; and if the difference between the width of the container and the two times of safe distance is smaller than or equal to the sum of the length and the width of the goods of one pallet and is larger than the two times of the width of the goods of one pallet, selecting a placing mode that the width direction of the goods of each pallet is parallel to the width direction of the container.
In one embodiment, the placing the goods of the at least one pallet in the loading buffer outside the container by using a forklift comprises: acquiring third laser scanning data obtained by scanning the goods on a tray by the laser scanner; searching point cloud data of two adjacent side edges of the goods in the third laser scanning data to obtain the direction and distance of the two adjacent side edges of the goods relative to the laser scanner; adjusting the direction and the position of a forklift on the basis of the direction and the distance of two adjacent side edges of the goods relative to the laser scanner until the forklift is opposite to the goods on a central axis extending in the length direction or the width direction of the goods, and a fork plate of the forklift is positioned below the goods; and controlling the forklift to fork the goods, and placing the goods in the temporary loading area outside the container according to the selected placing mode.
In one embodiment, when the number of the goods is an even number, the transferring the goods of at least one pallet in the loading buffer into the container by using the forklift includes: controlling a forklift to fork the cargos of two adjacent pallets in the same row in the loading temporary storage area together, and transferring the cargos to an inlet of the container according to a preset path; adjusting the orientation and position of the forklift until the forklift faces away from the access opening of the cargo box and is located on a central axis of the cargo box extending in the length direction; and controlling the forklift to place the goods of the two forked pallets in the container based on the placement position of the goods in the container.
In one embodiment, the adjusting the orientation and position of the forklift until the forklift faces away from the access opening of the cargo box and is located on a central axis of the cargo box extending in the length direction includes: acquiring fourth laser scanning data obtained by scanning the inside of the container by the laser scanner; searching point cloud data of two opposite side edges of the container in the fourth laser scanning data to obtain the direction and distance of the two opposite side edges of the container relative to the laser scanner; adjusting the orientation and position of the forklift based on the orientation and distance of the opposite side edges of the cargo box relative to the laser scanner until the forklift faces away from the entrance of the cargo box and is located on a central axis of the cargo box extending in the length direction.
In one embodiment, the controlling the forklift to place the two-pallet goods in the container based on the placement position of the goods in the container includes: searching point cloud data of the goods in the container in the fourth laser scanning data to obtain the distance between the goods in the container and the laser scanner; and controlling the forklift to move according to the distance between the goods in the container and the laser scanner, and placing the goods of the two forked pallets on one side, opposite to the inlet of the container, of the goods in the container.
A cargo loading apparatus, the apparatus comprising:
the size acquisition module is used for acquiring the size information of the goods of the container and a pallet;
the scheme determining module is used for selecting the placing mode of the goods of at least one pallet according to the size information of the goods of the container and the pallet;
the goods placing module is used for placing the goods of at least one tray in a temporary loading area outside the container by using a forklift, and the placing mode of the goods of at least one tray in the temporary loading area is consistent with the selected placing mode;
and the cargo loading module is used for transferring the cargo of at least one tray in the loading temporary storage area into the container by using a forklift.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program: acquiring size information of goods of a container and a pallet; selecting a placing mode of the goods of at least one pallet according to the size information of the goods of the container and the pallet; placing the goods of at least one pallet in a temporary loading area outside the container by using a forklift, wherein the placing mode of the goods of at least one pallet in the temporary loading area is consistent with the selected placing mode; transferring the goods of at least one pallet in the loading buffer area into the container by using a forklift.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of: acquiring size information of goods of a container and a pallet; selecting a placing mode of the goods of at least one pallet according to the size information of the goods of the container and the pallet; placing the goods of at least one pallet in a temporary loading area outside the container by using a forklift, wherein the placing mode of the goods of at least one pallet in the temporary loading area is consistent with the selected placing mode; transferring the goods of at least one pallet in the loading buffer area into the container by using a forklift.
According to the cargo loading method, the cargo loading device, the computer equipment and the storage medium, the size information of the cargo of the container and the cargo of the pallet is obtained, and then the placement mode of the cargo of at least one pallet is selected according to the size information of the cargo of the container and the cargo of the pallet, so that the utilization rate of the space in the container is as high as possible. And then, placing the goods of each tray to be placed in a loading temporary storage area outside the container according to the selected placement mode by using a forklift, wherein the placement mode of the goods of at least one tray in the loading temporary storage area is the selected placement mode. And then, transferring the goods of at least one pallet in the temporary loading area into the container by using a forklift. According to the invention, the placing mode which can enable the space utilization rate in the container to be as high as possible is determined according to the sizes of the container and the goods, and then the goods are placed in the container according to the determined placing mode, so that the space utilization rate in the container is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a cargo loading method in one embodiment;
FIG. 2 is a flow diagram of a method of sizing a container and cargo in one embodiment;
FIG. 3 is a schematic view of the manner in which goods are placed in one embodiment;
FIG. 4 is a schematic view of another embodiment of the manner in which goods are placed;
FIG. 5 is a schematic view of another embodiment of the manner in which goods are placed;
FIG. 6 is a flow chart of a method for placing cargo on a forklift in one embodiment;
FIG. 7 is a flow chart of a method of transferring cargo into a cargo box according to one embodiment;
FIG. 8 is a flow chart of a method of adjusting the direction and position of a forklift in one embodiment;
FIG. 9 is a flow chart of a method of placing cargo within a cargo box according to one embodiment;
FIG. 10 is a side view of a four-pronged fork lift truck in one embodiment;
FIG. 11 is a top view of a four-pronged fork lift truck in one embodiment;
FIG. 12 is a schematic view of a cargo loading method according to an embodiment;
FIG. 13 is a schematic view of the structure of the cargo loading apparatus according to one embodiment;
FIG. 14 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Description of reference numerals: 10-vehicle body, 20-fork plate, 30-telescopic part, 40-laser scanner, 21-fork arm, 31-cross bar, 22-first fork plate, 23-second fork plate, 24-third fork plate, 25-fourth fork plate, 1-world coordinate system, 2-truck coordinate system, 4-boarding area, 5-forklift and 6-cargo box.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
Spatial relational terms, such as "under," "below," "under," "over," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.
In one embodiment, as shown in fig. 1, there is provided a cargo loading method, the method comprising:
step S100, size information of the cargo box and the cargo of one pallet is acquired.
Step S110, selecting a placing mode of at least one pallet according to the size information of the cargo box and the pallet.
And S120, placing the goods of at least one pallet in a temporary loading area outside the container by using a forklift, wherein the placing mode of the goods of at least one pallet in the temporary loading area is consistent with the selected placing mode.
And S130, transferring the goods of at least one pallet in the temporary loading area into a container by using a forklift.
In this embodiment, size information of goods in the container and the pallet is acquired, and then the placing mode of the goods in the pallet is selected according to the size information of the goods in the container and the pallet, so that the utilization rate of the space in the container is as high as possible. And then, placing the goods of each tray to be placed in a loading temporary storage area outside the container according to the selected placement mode by using a forklift, wherein the placement mode of the goods of at least one tray in the loading temporary storage area is the selected placement mode. And then, transferring the goods of at least one pallet in the temporary loading area into the container by using a forklift. According to the invention, the placing mode which can enable the space utilization rate in the container to be as high as possible is determined according to the sizes of the container and the goods, and then the goods are placed in the container according to the determined placing mode, so that the space utilization rate in the container is improved.
In one embodiment, as shown in fig. 2, step S100 includes:
step S200, first laser scanning data obtained by scanning the container at the inlet side of the container by the laser scanner is obtained.
In particular, laser scanners are radar devices operating in the infrared and visible bands, with laser light as the operating beam. The laser scanner is composed of a laser transmitter, an optical receiver, a rotary table and an information processing system.
In this embodiment, the laser scanner is installed in fork truck front bottom center department, and the orientation of laser scanner is unanimous with fork truck's orientation, and when the fork board lifted up the goods, the goods can not shelter from the laser scanner. The laser scanner emits a laser beam to a target (for example, cargo of the present application) through a laser transmitter, receives the laser beam reflected from the target through an optical receiver, and compares the emitted laser beam with the reflected laser beam through an information processing system to obtain distance and orientation data of the target.
Step S210, searching the point cloud data of the edge of the inlet side of the cargo box in the first laser scanning data, and obtaining the orientation and distance of two sets of opposite edges opposite to the inlet side of the cargo box relative to the laser scanner.
Illustratively, the laser scan data is a collection of point cloud data, each data point in the point cloud being a point detected by the laser scanner at a certain time.
Step S220, determining the width of the cargo box based on the orientation and distance of the two shorter sides of the inlet side of the cargo box with respect to the laser scanner.
By way of example, the width of the cargo box is calculated by the orientation and distance of the two shorter sides of the inlet side of the cargo box relative to the laser scanner by the following formula:
wherein d is the width of the cargo box, a is the linear distance from the laser scanner to one of two shorter pairs of edges on the inlet side of the cargo box, b is the linear distance from the laser scanner to the other of the two shorter pairs of edges on the inlet side of the cargo box, and theta is the included angle between the laser scanner and the connecting line of the two edges on the inlet side.
Step S230, obtaining second laser scanning data obtained by scanning the laser scanner on two adjacent sides of the goods on the pallet.
Step S240, searching the second laser scanning data for the point cloud data of each side edge of the goods on a pallet, to obtain the orientation and distance of two adjacent side edges of the goods on the pallet relative to the laser scanner.
Step S250, determining the length and the width of the goods on the pallet based on the orientation and the distance of two adjacent side edges of the goods on the pallet relative to the laser scanner.
Specifically, of the distances between two sides of two adjacent sides of the goods on a pallet, the larger distance between the two sides is the length of the goods on a pallet, and the smaller distance between the two sides is the width of the goods on a pallet.
In this embodiment, the container entrance side is scanned by the laser scanner to obtain first laser scanning data, then the orientation and the distance of both sides of the container entrance side relative to the laser scanner are obtained according to the first laser scanning data, and then the width of the container is calculated according to the orientation and the distance of both sides of the container entrance side relative to the laser scanner. The goods of a tray are scanned through the laser scanner, second laser scanning data are obtained, then the orientation and the distance of the goods of the tray relative to the laser scanner are obtained according to the second laser scanning data, and the length and the width of the goods of the tray are calculated through the orientation and the distance of the goods of the tray relative to the laser scanner. Thereby can obtain the length and the width of packing box width and the goods of a tray to confirm the mode of putting of goods afterwards, improve the space utilization of packing box.
In one embodiment, step S110 includes:
in step S1101, if the difference between the width of the cargo box and the double safety distance is greater than twice the length of the cargo of one pallet, the arrangement mode in which the longitudinal direction of the cargo of each pallet is parallel to the longitudinal direction of the cargo box is selected.
In particular, the safe distance is the distance between the edge of the cargo near the side wall of the cargo box and the side wall of the cargo box. The safety distance is a preset value. The distance value between the goods and the side wall of the container, which ensures that the goods and the container can not collide in the transportation process, is obtained through past experience, and the distance is used as the numerical value of the safety distance.
Illustratively, the above-mentioned placement of the goods is determined when the following formula is satisfied:
W-2*s>2*h
wherein, W is the width of the container, h is the length of the goods of a pallet, and s is the safe distance.
For example, as shown in fig. 3, fig. 3 illustrates the cargo placement manner of step S1101, in which each rectangle is a pallet of cargo, and the cargo of the same color is simultaneously forked during transportation. The colors of the goods are only used for distinguishing the relative positions of the goods, so that the goods which are simultaneously forked are represented, and the goods are not limited.
Step S1102, if the difference between the width of the container and the twice safe distance is less than or equal to twice the length of the goods of one pallet and greater than the sum of the length and the width of the goods of one pallet, selecting a placement mode in which the length directions of the goods of two adjacent pallets in the same row are perpendicular to each other and the length directions of the goods of two adjacent pallets in the same column are perpendicular to each other.
Specifically, when the number of the goods is even, all the goods are placed in the manner of step S1102. When the number of the goods is odd, the even parts are placed according to the step S1102, and finally the redundant goods can be placed at will.
Illustratively, the above-mentioned placement of the goods is determined when the following formula is satisfied:
w+h<W-2*s≤2*h
wherein, W is the packing box width, h is the length of the goods of a tray, W is the width of the goods of a tray, and s is safe distance.
For example, as shown in fig. 4, fig. 4 illustrates the cargo placement manner of step S1102, in which each rectangle is a pallet of cargo, and the cargo of the same color is simultaneously forked during transportation. The colors of the goods are only used for distinguishing the relative positions of the goods, so that the goods which are simultaneously forked are represented, and the goods are not limited.
Step S1103, if the difference between the width of the container and the two times of the safety distance is smaller than or equal to the sum of the length and the width of the goods in one pallet and is greater than two times of the width of the goods in one pallet, selecting a placement mode in which the width direction of the goods in each pallet is parallel to the width direction of the container.
Illustratively, the above-mentioned placement of the goods is determined when the following formula is satisfied:
w*2<W-2*s≤w+h
wherein, W is the packing box width, h is the length of the goods of a tray, W is the width of the goods of a tray, and s is safe distance.
For example, as shown in fig. 5, fig. 5 illustrates the cargo placement manner of step S1103, in which each rectangle is a pallet of cargo, and the cargo of the same color is simultaneously forked during transportation. The colors of the goods are only used for distinguishing the relative positions of the goods, so that the goods which are simultaneously forked are represented, and the goods are not limited.
In this embodiment, according to the length and the width of goods, the safe distance between goods and the packing box wall, and the width of packing box, confirm three kinds of modes of putting of goods for the space of packing box inside can be filled up as far as possible to the goods, has improved the space utilization of packing box.
In one embodiment, as shown in fig. 6, step S120 includes:
and step S300, acquiring third laser scanning data obtained by scanning the goods on a pallet by the laser scanner.
Step S310, point cloud data of two adjacent sides of the goods are searched in the third laser scanning data, and the direction and the distance of the two adjacent sides of the goods relative to the laser scanner are obtained.
And S320, adjusting the direction and the position of the forklift based on the orientation and the distance of the two adjacent sides of the goods relative to the laser scanner until the forklift is opposite to the goods on a central axis extending in the length direction or the width direction of the goods, and a fork plate of the forklift is positioned below the goods.
And S330, controlling a forklift to fork the goods, and placing the goods in a loading temporary storage area outside the container according to the selected placing mode.
In this embodiment, the orientation and the distance of the two sides of the goods of a tray relative to the laser scanner are obtained, and then the direction and the position of the forklift are adjusted, so that the forklift is over against the goods on the central axis of the goods extending along the length direction or the width direction, then the fork plate of the forklift is moved to the lower part of the goods, and the goods are lifted and placed in the loading temporary storage area according to the determined placing mode. Through the orientation and the distance of goods for laser scanner, adjust fork truck's direction and position, make fork truck can follow goods length direction or width direction's axis and fork the goods. The forklift is ensured to fork the goods at the standard position, so that the goods are stable in the transportation process and are not easy to drop.
In one embodiment, as shown in fig. 7, when the number of the goods is an even number, the step S130 includes:
and S400, controlling a forklift to fork the cargos of two adjacent pallets in the same row in the temporary loading area together, and transferring the cargos to an inlet of a cargo box according to a preset path.
Specifically, when the quantity of goods is even, use fork truck in with the loading buffer with the goods of two adjacent trays on the same line together transfer to the packing box, fork truck fork the goods of two adjacent trays at every turn simultaneously, guaranteed promptly that the goods can transfer to the packing box according to the mode of putting of selection in, owing to once shift the goods of two trays again, improved the efficiency of goods loading.
Specifically, when the number of the goods is odd, the part of the even-numbered goods is transferred in the manner of step S400, and finally, the redundant one of the goods is separately transferred.
In the present embodiment, as shown in fig. 10, the forklift includes a vehicle body 10, a fork plate 20, a yoke 21, a telescopic member 30, and a laser scanner 40. The fork plate 20 and the fork arm 21 are vertically connected and positioned on one side of the vehicle body 10, the fork arm 21 is vertical to the horizontal plane of the forklift, and the fork arm 21 is positioned between the fork plate 20 and the vehicle body 10. The yoke 21 is connected to the telescopic end of the telescopic member 30 on the side close to the vehicle body 10, the fixed end of the telescopic member 30 is connected to the vehicle body 10, and the laser scanner 40 is connected to the fixed end of the telescopic member 30. The telescoping end of the telescoping member 30 moves in a vertical direction relative to the fixed end of the telescoping member 30.
As shown in fig. 11, the vehicle body 10 includes two forks 21, two telescopic members 30, two crossbars 31, and four forks 20, and the four forks 20 include a first fork 22, a second fork 23, a third fork 24, and a fourth fork 25. The second fork plate 23 is connected with one telescopic member 30 through the fork arm 21, the third fork plate 24 is connected with the other telescopic member 30 through the other fork arm 21, the first fork plate 22 is connected with the second fork plate 23 through a cross rod 31, and the fourth fork plate 25 is connected with the third fork plate 24 through the other cross rod 31. The telescoping ends of the two telescoping members 30 are connected together and remain in the same horizontal plane during telescoping.
Preferably, the two crossbars 31 may be two transverse telescopic members which can be extended and retracted in a direction perpendicular to the extension direction of the fork plate 20 in the horizontal plane of the fork plate 20, so that the first fork plate 22 and the second fork plate 23 can be combined into one fork plate, and the third fork plate 24 and the fourth fork plate 25 can be combined into one fork plate, so that the forklift can be switched between a two-fork forklift and a four-fork forklift as required.
Specifically, to maintain the balance of the cargo, a pallet of cargo requires at least two fork arms to be forked. Above-mentioned fork truck has four fork boards, and every two fork boards can fork the goods of a tray, consequently, above-mentioned fork truck can fork the goods of two trays simultaneously.
Illustratively, the forklift may be any one of a counter-weight type unmanned forklift, a forklift with a high stack type unmanned forklift, and an indoor and outdoor counter-weight type unmanned forklift.
Illustratively, the containers are all placed in appointed area, and the route from the loading buffer to the container entrance is the preset route, can adjust according to actual conditions in advance.
And S410, adjusting the direction and the position of the forklift until the forklift faces away from the inlet of the container and is positioned on a central axis extending along the length direction of the container.
Illustratively, as shown in fig. 12, a truck coordinate system 2 is established by using the middle point of the tail end of the cargo box 6, an included angle between the horizontal axis of the truck coordinate system 2 and the horizontal axis of the world coordinate system 1 is θ, and after the forklift 5 moves to the boarding area 4, the position of the forklift 5 is firstly adjusted on the central axis extending in the length direction of the cargo box 6. And adjusting the direction of the forklift 5 according to the included angle theta until the forklift 5 is right opposite to the inlet of the container 6, and at the moment, the direction of the forklift 5 is parallel to the wall of the container 6.
And step S420, controlling the forklift to place the goods of the two forked pallets in the container based on the placement position of the goods in the container.
In this embodiment, the forklift first forks the two pallets of goods, then moves to the entrance of the cargo box according to a predetermined path, and then adjusts the direction and position of the forklift so that the forklift faces away from the cargo box and is located on the central axis extending in the length direction of the cargo box. Then, according to the placement position of the goods in the container, the goods are placed in the container. The direction of the forklift is adjusted to be opposite to the container inlet, so that the forklift can move to the deepest position of the container as far as possible, the position of the forklift is located in the middle of the edges of the two opposite sides of the container, the goods on the forklift and the box walls of the two opposite sides of the container keep equal distance, the space inside the container can be utilized to the maximum degree, the situation that the goods are too close to one side of the box walls and too far away from the other side is avoided, and the probability of collision between the goods and the box walls in the running process of the truck is reduced. And, use unmanned fork truck to carry out the loading to the goods, because unmanned fork truck can strictly carry out the goods according to the optimization scheme that sets for and put, so compare in manual operation fork truck and carry out the loading, efficiency is higher and more stable. And the efficiency of manual loading can be achieved or exceeded by using the unmanned forklift, so that manual loading is replaced, the labor cost is reduced, and meanwhile, the possible safety accidents caused by the manual operation of the forklift due to the non-standard condition are avoided.
In one embodiment, as shown in fig. 8, step S410 includes:
step S500, fourth laser scanning data obtained by scanning the inside of the cargo box by the laser scanner is acquired.
Step S510, searching the point cloud data of the two opposite side edges of the cargo box in the fourth laser scanning data, and obtaining the orientation and distance of the two opposite side edges of the cargo box relative to the laser scanner.
And S520, adjusting the direction and the position of the forklift based on the direction and the distance of the two opposite side edges of the cargo box relative to the laser scanner until the forklift faces away from the inlet of the cargo box and is positioned on the central axis of the cargo box extending along the length direction.
Illustratively, the included angle between the connecting line of the forklift and the two opposite side edges of the cargo box and the central axis of the forklift towards can be adjusted to be equal, namely the forklift faces away from the inlet of the cargo box, and the distance between the forklift and the two opposite side edges of the cargo box can be adjusted to be equal, namely the forklift is located in the middle of the two opposite side edges of the cargo box.
In this embodiment, the orientation and position of the forklift is adjusted by the orientation and distance of the opposite side edges of the cargo box relative to the laser scanner so that the forklift faces away from the entrance of the cargo box and is located intermediate the opposite side edges of the cargo box. Thereby guaranteed fork truck can remove the deepest of packing box as far as possible to and avoid the goods to be too close from tank wall one side, and too far away from the opposite side, reduced the probability that goods and tank wall bump among the freight train operation process.
In one embodiment, as shown in fig. 9, step S420 includes:
step S600, point cloud data of goods in the container are searched in the fourth laser scanning data, and the distance between the goods in the container and the laser scanner is obtained.
Illustratively, the placeable position of the cargo is calculated based on the distance of the cargo within the cargo box relative to the laser scanner and the size of the currently forked cargo.
And S610, controlling the forklift to move according to the distance between the goods in the container and the laser scanner, and placing the goods of the two forked pallets in the container on the side, opposite to the inlet of the container, of the goods.
Illustratively, the goods placing positions of the two forked pallets are separated from the goods in the container by a safe distance, and the safe distance is determined according to actual conditions.
In this embodiment, the distance of the goods in the container relative to the laser scanner is obtained, the placement position of the goods is calculated according to the distance of the goods in the container relative to the laser scanner and the size of the currently-forked goods, and then the goods is placed on the side, opposite to the container inlet, of the goods in the container according to the calculated placement position, and the set safe distance is kept between the goods in the container and the goods in the container. Through such a mode, can put goods in the packing box in proper order, improved the space utilization of packing box.
It should be understood that although the various steps in the flowcharts of fig. 1, 2, and 6-9 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1, 2, 6-9 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or at least partially with other steps or with at least some of the other steps.
In one embodiment, as shown in fig. 13, there is provided a cargo loading apparatus comprising: a size obtaining module 901, a scheme determining module 902, a cargo placing module 903, and a cargo loading module 904, wherein:
a size obtaining module 901, configured to obtain size information of the cargo containers and the cargo of a pallet.
The scheme determining module 902 is configured to select a placement manner of goods on at least one pallet according to the size information of the goods on the container and the pallet.
The goods placing module 903 is used for placing goods of at least one tray in a loading temporary storage area outside the container by using a forklift, and the placing mode of the goods of the at least one tray in the loading temporary storage area is consistent with the selected placing mode.
And a cargo loading module 904 for transferring the cargo of at least one pallet in the loading buffer into the cargo box by using a forklift.
In one embodiment, the size obtaining module 901 further includes: the device comprises a first data acquisition unit, a first data search unit, a first data calculation unit, a second data acquisition unit, a second data search unit and a second data calculation unit, wherein:
the first data acquisition unit is used for acquiring first laser scanning data obtained by scanning the laser scanner on the inlet side of the cargo box.
And the first data searching unit is used for searching the point cloud data of the edge of the inlet side of the container in the first laser scanning data to obtain the direction and distance of two groups of opposite sides opposite to the inlet side of the container relative to the laser scanner.
A first data calculation unit for determining the width of the cargo box based on the orientation and distance of the two shorter sides of the inlet side of the cargo box with respect to the laser scanner.
And the second data acquisition unit is used for acquiring second laser scanning data obtained by scanning the laser scanner on two adjacent sides of the goods on the pallet.
And the second data searching unit is used for searching the point cloud data of each side edge of the goods of one tray in the second laser scanning data to obtain the direction and distance of two adjacent side edges of the goods of the one tray relative to the laser scanner.
And the second data calculation unit is used for determining the length and the width of the goods on the pallet based on the orientation and the distance of the two adjacent sides of the goods on the pallet relative to the laser scanner.
In one embodiment, the scheme determining module 902 further comprises: a first scheme determination unit, a second scheme determination unit, a third scheme determination unit, wherein:
and the first scheme determining unit is used for selecting the arrangement mode that the length direction of the goods of each pallet is parallel to the width direction of the container if the difference between the width of the container and the double safe distance is larger than the double length of the goods of one pallet.
And the second scheme determining unit is used for selecting a placing mode that the length directions of the goods of two adjacent pallets in the same row are mutually vertical and the length directions of the goods of two adjacent pallets in the same column are mutually vertical if the difference between the width of the container and the twice safe distance is less than or equal to twice the length of the goods of one pallet and is greater than the sum of the length and the width of the goods of one pallet.
And the third scheme determining unit is used for selecting a placing mode that the width direction of the goods of each pallet is parallel to the width direction of the container if the difference between the width of the container and the double safety distance is smaller than or equal to the sum of the length and the width of the goods of one pallet and is larger than the double width of the goods of one pallet.
In one embodiment, the goods placement module 903 further comprises: third data acquisition unit, third data search unit, first fork truck position adjustment unit, goods put the unit, wherein:
and the third data acquisition unit is used for acquiring third laser scanning data obtained by scanning the goods on a pallet by the laser scanner.
And the third data searching unit is used for searching the point cloud data of two adjacent sides of the goods in the third laser scanning data to obtain the azimuth and the distance of the two adjacent sides of the goods relative to the laser scanner.
The first forklift position adjusting unit is used for adjusting the direction and the position of the forklift based on the direction and the distance of two adjacent side edges of the goods relative to the laser scanner until the forklift is opposite to the goods on a central axis extending in the length direction or the width direction of the goods, and a fork plate of the forklift is located below the goods.
The first goods placing unit is used for controlling the forklift to fork the goods and placing the goods in a loading temporary storage area outside the container according to the selected placing mode.
In one embodiment, the cargo loading module 904 further comprises: cargo moving unit, second fork position adjustment unit, second goods put the unit, wherein:
and the goods moving unit is used for controlling the forklift to fork the goods of two adjacent pallets in the same row in the temporary loading area together and transferring the goods to the entrance of the container according to a preset path.
And the second forklift position adjusting unit is used for adjusting the direction and the position of the forklift until the forklift faces away from the inlet of the container and is positioned on the central axis of the container extending along the length direction.
And the second goods placing unit is used for controlling the forklift to place the goods of the two forked trays in the container based on the placing position of the goods in the container.
In one embodiment, the second forklift position adjusting unit further includes: a fourth data acquisition subunit, a fourth data search subunit, and a fourth data determination subunit, wherein:
and the fourth data acquisition subunit is used for acquiring fourth laser scanning data obtained by scanning the interior of the cargo box by the laser scanner.
And the fourth data searching subunit is used for searching the point cloud data of the two opposite side edges of the container in the fourth laser scanning data to obtain the direction and the distance of the two opposite side edges of the container relative to the laser scanner.
A fourth data determination subunit for adjusting the orientation and position of the forklift truck based on the orientation and distance of the opposite side edges of the cargo box relative to the laser scanner until the forklift truck faces away from the entrance of the cargo box and is located on a central axis extending in the length direction of the cargo box.
In one embodiment, the second cargo holding unit further comprises: a distance determining subunit and a goods placing subunit, wherein:
and the distance determining subunit is used for searching the point cloud data of the goods in the container in the fourth laser scanning data to obtain the distance between the goods in the container and the laser scanner.
And the goods placing subunit is used for controlling the forklift to move relative to the laser scanner according to the distance between the goods in the container and placing the goods of the two forked trays in the container, wherein the goods are just opposite to the inlet side of the container.
For specific limitations of the cargo loading device, reference may be made to the above limitations of the cargo loading method, which are not described herein again. The modules in the cargo loading device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 14. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a cargo loading method.
Those skilled in the art will appreciate that the architecture shown in fig. 14 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the above-described method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of loading cargo, the method comprising:
acquiring size information of goods of a container and a pallet;
selecting a placing mode of the goods of at least one pallet according to the size information of the goods of the container and the pallet;
placing the goods of at least one pallet in a temporary loading area outside the container by using a forklift, wherein the placing mode of the goods of at least one pallet in the temporary loading area is consistent with the selected placing mode;
transferring the goods of at least one pallet in the loading buffer area into the container by using a forklift.
2. The method of claim 1, wherein the obtaining information on the dimensions of the cargo of the container and a pallet comprises:
acquiring first laser scanning data obtained by scanning of a laser scanner on the inlet side of the cargo box;
searching point cloud data of the edge of the inlet side of the container in the first laser scanning data to obtain the orientation and the distance of two groups of opposite edges opposite to the inlet side of the container relative to the laser scanner;
determining a width of the cargo box based on an orientation and a distance of two shorter sides of the inlet side of the cargo box relative to the laser scanner;
acquiring second laser scanning data obtained by scanning the laser scanner on two adjacent sides of goods on a tray;
searching point cloud data of each side edge of the goods of a pallet in the second laser scanning data to obtain the direction and distance of two adjacent side edges of the goods of the pallet relative to the laser scanner;
determining the length and width of the goods of a pallet based on the orientation and distance of two adjacent sides of the goods of a pallet relative to the laser scanner.
3. The method of claim 2, wherein when the number of the goods is an even number, the selecting the placement of the goods of at least one pallet according to the size information of the goods of the container and one pallet comprises:
if the difference between the width of the container and the two times of the safety distance is larger than the two times of the length of the goods of one pallet, selecting a placing mode that the length direction of the goods of each pallet is parallel to the width direction of the container;
if the difference between the width of the container and the two times of safety distance is less than or equal to two times of the length of the goods of one pallet and is greater than the sum of the length and the width of the goods of one pallet, selecting a placing mode that the length directions of the goods of two adjacent pallets in the same row are mutually vertical and the length directions of the goods of two adjacent pallets in the same column are mutually vertical;
and if the difference between the width of the container and the two times of safe distance is smaller than or equal to the sum of the length and the width of the goods of one pallet and is larger than the two times of the width of the goods of one pallet, selecting a placing mode that the width direction of the goods of each pallet is parallel to the width direction of the container.
4. The method of any one of claims 1 to 3, wherein said placing said load of at least one pallet in a loading buffer outside said container with a forklift, comprises:
acquiring third laser scanning data obtained by scanning the goods on a tray by the laser scanner;
searching point cloud data of two adjacent side edges of the goods in the third laser scanning data to obtain the direction and distance of the two adjacent side edges of the goods relative to the laser scanner;
adjusting the direction and the position of a forklift on the basis of the direction and the distance of two adjacent side edges of the goods relative to the laser scanner until the forklift is opposite to the goods on a central axis extending in the length direction or the width direction of the goods, and a fork plate of the forklift is positioned below the goods;
and controlling the forklift to fork the goods, and placing the goods in the temporary loading area outside the container according to the selected placing mode.
5. The method of any one of claims 1 to 3, wherein said transferring said load from said at least one pallet in said loading buffer into said container with a forklift when said load is an even number of pieces comprises:
controlling a forklift to fork the cargos of two adjacent pallets in the same row in the loading temporary storage area together, and transferring the cargos to an inlet of the container according to a preset path;
adjusting the orientation and position of the forklift until the forklift faces away from the access opening of the cargo box and is located on a central axis of the cargo box extending in the length direction;
and controlling the forklift to place the goods of the two forked pallets in the container based on the placement position of the goods in the container.
6. The method of claim 5, wherein the adjusting the orientation and position of the forklift until the forklift faces away from the access opening of the cargo box and is located on a central axis extending lengthwise of the cargo box comprises:
acquiring fourth laser scanning data obtained by scanning the inside of the container by the laser scanner;
searching point cloud data of two opposite side edges of the container in the fourth laser scanning data to obtain the direction and distance of the two opposite side edges of the container relative to the laser scanner;
adjusting the orientation and position of the forklift based on the orientation and distance of the opposite side edges of the cargo box relative to the laser scanner until the forklift faces away from the entrance of the cargo box and is located on a central axis of the cargo box extending in the length direction.
7. The method of claim 6, wherein said controlling the forklift to place the two-pallet fork-lift cargo within the cargo box based on the placement of the cargo within the cargo box comprises:
searching point cloud data of the goods in the container in the fourth laser scanning data to obtain the distance between the goods in the container and the laser scanner;
and controlling the forklift to move according to the distance between the goods in the container and the laser scanner, and placing the goods of the two forked pallets on one side, opposite to the entrance of the container, of the goods in the container.
8. A cargo loading apparatus, the apparatus comprising:
the size acquisition module is used for acquiring the size information of the goods of the container and a pallet;
the scheme determining module is used for selecting the placing mode of the goods of at least one pallet according to the size information of the goods of the container and the pallet;
the goods placing module is used for placing the goods of at least one tray in a temporary loading area outside the container by using a forklift, and the placing mode of the goods of at least one tray in the temporary loading area is consistent with the selected placing mode;
and the cargo loading module is used for transferring the cargo of at least one tray in the loading temporary storage area into the container by using a forklift.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115818288A (en) * | 2022-11-23 | 2023-03-21 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Automatic arrangement method for in-box trays of laser forklift |
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