CN115619300B - Automatic loading system and method for containers - Google Patents

Automatic loading system and method for containers Download PDF

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Publication number
CN115619300B
CN115619300B CN202211420984.XA CN202211420984A CN115619300B CN 115619300 B CN115619300 B CN 115619300B CN 202211420984 A CN202211420984 A CN 202211420984A CN 115619300 B CN115619300 B CN 115619300B
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laser radar
loading
automatic loading
information
box
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CN115619300A (en
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刘佳喜
张宇霆
宋伟杰
余文涛
王芳
冷顺天
严胜田
段骏
李琰
蒋护君
马视曾
许俊
李鹏飞
查文安
姚正亚
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KSEC Intelligent Technology Co Ltd
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KSEC Intelligent Technology Co Ltd
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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
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • 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
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06311—Scheduling, planning or task assignment for a person or group
    • 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
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
    • 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
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

The invention relates to the technical field of cargo loading, and discloses an automatic loading system and method for a container, wherein the automatic loading system for the container is used for: receiving vehicle scheduling information, sending loading task information to an automatic loading robot, and receiving loading request information and task execution feedback information sent by the automatic loading robot; the received vehicle scheduling information includes: vehicle basic information, box basic information, initial delivery order information, current available vehicle information, confirmed plan delivery order information and vehicle in-place information; the automatic carton loading system comprises an interface module, and further comprises a vehicle body position measuring module, an automatic loading calculating module, a task allocation module and a monitoring module which are in communication connection with the interface module. The invention solves the problems of low automation degree, low loading efficiency, lack of effective product data tracing and the like in the prior art.

Description

Automatic loading system and method for containers
Technical Field
The invention relates to the technical field of cargo loading, in particular to an automatic loading system and method for a container.
Background
Auto-loading technology originated in europe in the 60's of the 20 th century, and foreign suppliers have introduced multiple types of auto-loading solutions for different application scenarios and have placed a global market through decades of development. Before and after 2014, foreign suppliers enter the Chinese market through cooperative partners, but high price and equipment adaptability become the biggest obstacles to market expansion, and business progress is slow.
The loading workload of large-scale production enterprises in China for delivering goods from factories to dealers or logistics centers is huge, the automatic loading requirements of bagged and boxed products are mainly taken as the main requirements, and the market requirements are clear particularly in the industries such as cement, feed, grain and oil, automobiles, fast-moving goods, household appliances, food and beverage, chemical industry, hardware tools, express logistics and the like. However, the demands of different industries on handling equipment and solutions are greatly different. At present, a lot of bagged product loading and unloading equipment exist in the market, the bagged products can achieve loading efficiency of 3000 packages/h at the fastest speed, and the adaptability of vehicles is higher and higher. Automatic loading products for boxed products are rare and low in efficiency. The automatic loading of boxed products is divided into the following three conditions: full-manual operation, mechanical conveying and manual disassembling, mechanical conveying and air-assisted manipulator cannot completely realize full-automatic and further unattended operation, and a series of problems of more operators, high labor intensity of personnel and the like are caused.
At present, enterprises for providing boxed automatic loading and unloading equipment and solutions exist in China, but the technology is not mature enough, the enterprises cannot adapt to complex and diversified loading markets in China, and products are still in the research, development or experimental application stage.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an automatic carton loading system and method, and solves the problems of low automation degree, low loading efficiency, lack of effective product data tracing and the like in the prior art.
The technical scheme adopted by the invention for solving the problems is as follows:
an automatic carton loading system is used for: receiving vehicle scheduling information, sending loading task information to an automatic loading robot, and receiving loading request information and task execution feedback information sent by the automatic loading robot; the received vehicle scheduling information includes: vehicle basic information, box basic information, initial delivery order information, current available vehicle information, confirmed plan delivery order information and vehicle in-place information; the automatic carton loading system comprises an interface module, and further comprises a vehicle body position measuring module, an automatic loading calculation module, a task allocation module and a monitoring module which are in communication connection with the interface module; the interface module is used for: receiving vehicle scheduling information and connecting the vehicle scheduling information with an automatic loading robot in a communication way; the vehicle body position measuring and calculating module is used for: detecting the position of a vehicle body by using a laser radar, and calculating the position of a central axis of the cargo box, the distance deviation of the automatic loading robot from the central axis of the cargo box and the deviation angle of the vehicle body of the automatic loading robot relative to the cargo box; the automatic loading calculation module is used for: planning the space position of the material in the boxcar; the task allocation module is used for: distributing the vehicle scheduling information and the loading request information to respective loading tasks of the automatic loading robots; the monitoring module is used for: monitoring of the entire automatic loading process is provided.
As a preferred technical scheme, the formula for calculating the axis position in the cargo box is as follows:
Figure 604846DEST_PATH_IMAGE001
，
Figure 512759DEST_PATH_IMAGE002
，
Figure 523441DEST_PATH_IMAGE003
；
wherein the content of the first and second substances,
Figure 553713DEST_PATH_IMAGE005
the distance from the laser radar and the foot point of the vertical line of the tail end of the container inlet to the left end point of the tail end of the container inlet,
Figure 361449DEST_PATH_IMAGE006
the distance from the laser radar to the left end point of the tail end of the container inlet,
Figure 554533DEST_PATH_IMAGE007
for laser radar with cargo inletThe included angle between the connecting line between the left end points of the tail ends and the perpendicular line from the laser radar to the tail end of the container inlet,
Figure 11240DEST_PATH_IMAGE008
the distance from the laser radar and the foot point of the vertical line of the tail end of the container inlet to the right end point of the tail end of the container inlet,
Figure 574125DEST_PATH_IMAGE009
the distance from the laser radar to the end point on the right side of the tail end of the container inlet,
Figure 883884DEST_PATH_IMAGE010
the included angle between the connecting line of the laser radar and the right end point of the inlet tail end of the cargo box and the perpendicular line from the laser radar to the inlet tail end of the cargo box,
Figure 689029DEST_PATH_IMAGE011
the width of the cargo box.
As an optimal technical scheme, the distance deviation of the automatic loading robot deviating from the central axis of the container is calculated
Figure 804752DEST_PATH_IMAGE012
The formula of (1) is as follows:
Figure 644532DEST_PATH_IMAGE013
；
in the formula (I), the compound is shown in the specification,
Figure 125192DEST_PATH_IMAGE014
，
Figure 683212DEST_PATH_IMAGE015
；
wherein the content of the first and second substances,
Figure 296913DEST_PATH_IMAGE016
the distance between the laser radar and the vertical line at the tail end of the container inlet and the left container side of the container,
Figure 790529DEST_PATH_IMAGE017
for laser radar
Figure 185738DEST_PATH_IMAGE018
The laser reaches the distance of the left side of the cargo box during angle radiation,
Figure 822573DEST_PATH_IMAGE019
is the included angle between the connecting line from the laser radar to the left distance measuring point and the central line of the laser radar,
Figure 350823DEST_PATH_IMAGE020
the distance between the laser radar and the vertical line at the tail end of the cargo box inlet and the right box side of the cargo box,
Figure 13065DEST_PATH_IMAGE021
for laser radar
Figure 829712DEST_PATH_IMAGE022
The laser radar reaches the distance of the right side of the cargo box during angle radiation,
Figure 355688DEST_PATH_IMAGE022
the included angle between the connecting line from the laser radar to the right ranging point and the central line of the laser radar is formed; left side range finding point indicates laser radar when the radiation of packing box left side limit the nodical of radial line and packing box left side limit, and right side range finding point indicates laser radar when the radiation of packing box right side limit the nodical of radial line and packing box right side limit.
As a preferred technical solution, a formula for calculating an offset angle of a car body of the automatic loading robot relative to a cargo box is as follows:
Figure 582270DEST_PATH_IMAGE023
，
Figure 823896DEST_PATH_IMAGE024
，
Figure 364598DEST_PATH_IMAGE025
，
Figure 742490DEST_PATH_IMAGE026
；
wherein the content of the first and second substances,
Figure 405553DEST_PATH_IMAGE027
for laser radar
Figure 868895DEST_PATH_IMAGE028
The vertical distance from the left distance measuring point to the central axis of the automatic loading robot during angle radiation,
Figure 213289DEST_PATH_IMAGE029
for laser radar
Figure 445687DEST_PATH_IMAGE028
The distance from the laser radar to the left side of the cargo box during angular radiation,
Figure 279651DEST_PATH_IMAGE028
is an included angle between a connecting line from the laser radar to the left distance measuring point and the central axis of the automatic loading robot,
Figure 230289DEST_PATH_IMAGE030
for laser radar
Figure 112794DEST_PATH_IMAGE031
The vertical distance from the ranging point to the central axis of the automatic loading robot during angle radiation,
Figure 527595DEST_PATH_IMAGE032
for laser radar
Figure 470143DEST_PATH_IMAGE031
The distance from the laser radar to the right side of the cargo box during angular irradiation,
Figure 908078DEST_PATH_IMAGE031
is an included angle between a connecting line from the laser radar to the right ranging point and the central axis of the automatic loading robot,
Figure 594274DEST_PATH_IMAGE033
is one-half of the width of the cargo box,
Figure 863582DEST_PATH_IMAGE034
，
Figure 977031DEST_PATH_IMAGE035
the automatic loading robot is characterized in that the automatic loading robot is provided with a vehicle body which is an offset angle relative to a container.
As a preferred technical scheme, the automatic loading system further comprises an automatic loading calculation module; the automatic loading calculation module is used for: planning the space position of the material in the boxcar.
As a preferred technical solution, the automatic loading system further includes a task allocation module, and the task allocation module is configured to allocate respective loading tasks to the automatic loading robots according to the vehicle scheduling information and the loading request information.
As a preferred technical scheme, the automatic loading system further comprises a monitoring module, and the monitoring module is used for monitoring the whole automatic loading process.
The automatic carton loading method comprises the following steps:
the method comprises the following steps of S1, receiving vehicle scheduling information sent by a vehicle scheduling system, loading request information sent by an automatic loading robot and task execution feedback information;
s2, sending loading task information to an automatic loading robot;
and S3, feeding back the task execution feedback information to the vehicle scheduling system.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, through the cooperation of the ERP system, the vehicle dispatching system, the automatic loading system and the automatic loading robot, the intelligent control of the container loading is realized, the automation and informatization degrees are high, and the effective tracing of product data is conveniently realized; moreover, labor cost, industrial injury risk and management complexity are reduced; the loading efficiency is also improved, and the high-efficiency operation can be kept for a long time.
Drawings
FIG. 1 is a schematic structural diagram of an automatic loading system for containers according to the present invention;
FIG. 2 is a flow chart of an automatic loading process of the automatic loading system for the container according to the present invention;
FIG. 3 is a flow chart of the body position estimation;
FIG. 4 is a schematic view of a laser radar ranging apparatus;
FIG. 5 is a graph of position and distance calculated using trigonometric functions;
FIG. 6 is a schematic view of calculating a position of an axis in the cargo box;
FIG. 7 is a schematic view of a positional relationship between an automatic loading robot and a container;
FIG. 8 is a schematic diagram of left and right deviation calculation;
FIG. 9 is a schematic view of an angular deviation calculation;
fig. 10 is a schematic diagram of the hardware components of the loading system.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.
Example 1
As shown in fig. 1 to 10, the invention discloses an intelligent carton loading control system capable of butting a boxcar under a platform and finishing finished cigarette cartons, which realizes the automatic butting of an indoor logistics system and the boxcar, and realizes the automatic loading function of the finished cigarette cartons by utilizing a machine vision technology and a loading stacking algorithm. The automatic loading process is shown in fig. 2.
According to a client ex-warehouse order issued by an ERP system, tasks are intelligently distributed, a plurality of automatic loading and unloading lanes are coordinated to complete ex-warehouse tasks, and information is fed back to a WMS system;
the stacking shape of the materials placed on the truck is optimized through a specific algorithm, and the space utilization rate of the truck is maximized;
the monitoring of the whole loading and unloading truck line is provided, and a user can check the running state of each intelligent loading and unloading truck line through a monitoring picture and can perform corresponding operation on equipment according to the situation;
finishing the allocation of the vehicles entering and leaving the warehouse of each intelligent loading and unloading line in cooperation with a vehicle management system;
completing automatic loading of the materials by cooperating with a loading and unloading robot;
manual ordering of shipping tasks may be performed independently.
It should be noted that the working principle, the actual composition, and the like of the vehicle body position calculating module and the automatic loading calculating module are not limited to the recited range of the present invention. The technical problems of the invention can be solved by adopting other prior art. Therefore, the specific forms of the vehicle body position measuring module and the automatic loading calculating module recited in the invention do not affect the implementation of the technical scheme and the purpose of the invention, and should not be the limitation of the claimed protection scope of the invention.
Preferably, the system is provided with a set of system management multiple loading and unloading truck lines, comprises multiple loading and unloading truck line control systems and shares a set of software system; the multiple loading and unloading lines can synchronously execute loading operation, and the multiple loading and unloading lines are independent and have own operation flows respectively.
Preferably, the manual order making and ordering function is set, a user can make an order task on loading system software, and the loading and unloading system can independently run off-line with other systems to complete the loading task.
Preferably, the order analysis and calculation can be synchronously executed by a plurality of loading and unloading lanes; the order analysis sequence can be disordered, but the order execution sequence is not allowed to change, and if the order analysis result is not ideal, the order analysis result can be added into the analysis pool again by modifying the placing condition.
Preferably, the system is provided with a video monitoring function, and each loading and unloading trolley line is provided with the video monitoring function, so that a user can conveniently monitor the operation condition of each loading and unloading trolley line.
Preferably, the invention is provided with a 3D stacking graph, provides dynamic display for the 3D goods stacking process, or directly displays the stacking graph.
Preferably, the invention sets a stacking universal rule design, and opens some universal stacking rules for a user to modify the stack shape.
Preferably, the interface layer is arranged to display the real-time loading and unloading truck order and goods details and dynamically display the order execution details of each loading and unloading truck line.
Preferably, the invention sets the functions of detail inquiry and vehicle body measurement and calculation (the length, the width, the stacking origin and the like of the vehicle body can be measured and calculated) of the order management order.
Preferably, the robot has a function of communicating with the robot to inform the robot of the position information of the next material placement.
Preferably, the order analysis process and the execution process of the invention do not interfere with each other.
Preferably, the present invention is provided with a function of updating the loading and unloading list.
The container of the truck is called a container for short, namely a box type container.
In fig. 2, the outbound order simulation scenario in the confirmed outbound order simulation scenario includes information such as a loading sequence and a loading platform.
In specific implementation, the following logic design flow of the loading system software can be optimized in the invention:
1. the ERP/WMS issues an outgoing order;
2. the loading system analyzes the order;
3. whether the order has allocated a vehicle;
4. the loading system measuring and calculating module measures and calculates the loading stack shape:
measuring and calculating the stack shape of the vehicle according to the model of the existing vehicle,
the cargo carrying quantity and the stack shape of each vehicle are reasonably distributed according to the number of the vehicles,
considering the stability and reliability of the loading stack shape, calculating the material sequence;
5. selecting a vehicle model:
calculating the stack shape according to the vehicle model, calculating the space utilization rate,
the utilization rate is insufficient, the vehicle model is replaced, the space utilization rate is continuously measured and calculated,
the vehicle utilization rate exceeds 100%, the order needs to be split, and vehicles need to be additionally added;
6. confirming a loading scheme, generating a material incoming sequence list and generating a packing list;
7. and the WCS coordinates to discharge from the warehouse according to the boxing list, and the robot finishes boxing operation.
When the invention is applied, the intelligent control of the container loading can be realized through the cooperation of the ERP system/WCS system, the vehicle scheduling system, the automatic loading system and the automatic loading robot, the automation and informatization degrees are high, and the effective tracing of product data is convenient to realize; moreover, labor cost, industrial injury risk and management complexity are reduced; the loading efficiency is also improved, and the high-efficiency operation can be kept for a long time. Based on the contents of the vehicle scheduling information, the initial ex-warehouse order information and the confirmed scheme ex-warehouse order information, the effective tracing of the product data can be more accurately and comprehensively realized. The loading tasks are conveniently distributed according to actual loading scenes, the loading efficiency is further improved, and timely adjustment is facilitated. The user can check the running state of the loading robot through monitoring the picture; the monitoring module preferably selects a human-computer interaction module, checks the running state of the loading robot and can operate related equipment according to the situation.
The invention has the following characteristics:
the full-flow logistics informatization management and traceability of the part box are as follows: from order input to loading completion, all the part box information is subjected to information tracking such as bar code scanning and data statistics management, so that the phenomena of box leakage, wrong orders and the like are avoided, and the whole process can be traced;
the database management functions of rechecking the ex-warehouse order data, proofreading statistics and the like are provided;
the compatibility of the parts box and the transportation vehicle type is better;
the application range of the matching box is wide, and the automatic loading of the current standard cigarettes and the thin cigarettes can be basically met;
the adaptability to vehicle types is strong, and all vehicle types capable of opening the door backwards can be adapted; (the box type high-low plate and the flat car can meet the requirements.)
The system is highly intelligent;
by adopting an artificial intelligence algorithm, data analysis can be carried out on the delivery orders, the delivery order sequence of the orders and the 3D effect after loading are generated intelligently, and the stacking type and delivery sequence can be adjusted manually;
according to the order information and the compartment size, the transverse or longitudinal loading of the part box can be intelligently planned, and the maximum loading volumetric efficiency is realized;
the device is provided with a carriage size 3D intelligent measurement and review system;
the loading effect can approach the quality of the existing manual loading, and the small-package mixed-assembly car with more than 5 product specifications can be met;
the tower-shaped arrangement can be realized by the top stack shape after loading, and the transportation stability is good;
the system has complete functions and good interface performance;
the system not only completes the hardware function of automatic loading, but also has complete system functions of vehicle, order data management, statistics, video monitoring and the like;
an advanced field bus control system is adopted, and the system is provided with a Profibet hardware communication interface, an Ethernet hardware communication interface, a WIFI hardware communication interface and a software interface which is reserved for communicating with a WCS/WMS in the future, so that conditions are provided for implementing the whole logistics storage system in the future;
the system has higher safety and reliability;
the computer system is provided with a UPS power supply, so that the database data can be effectively stored when the power is off;
protective guards, fences, safety nets and the like are arranged at places where personnel and equipment damage is likely to occur, and safety warning boards are arranged;
all moving parts and moving equipment on the equipment have safety protection measures, and the arranged protective covers and protective guards have striking color marks and are coordinated with the whole equipment.
Example 2
As shown in fig. 1 to 10, as a further optimization of embodiment 1, on the basis of embodiment 1, the present embodiment further includes the following technical features:
the vehicle body position measuring and calculating module is used for: calculating the distance deviation of the central axis of the container, the distance deviation of the automatic loading robot from the central axis of the container and the angle deviation of the course angle of the automatic loading robot and the central axis of the container; therefore, the space size inside the carriage, the relative size between the vehicle body and the loading robot and the stacking origin are calculated.
The automatic loading calculation module is used for: and planning the space position of the material in the boxcar according to the optimization rule.
The vehicle body position measuring and calculating module can adopt the following implementation modes:
1) Computing device and principles:
the 2D laser radar ranging device is installed on a central axis of the automatic loading robot, and the polar coordinate of the laser radar is required to be overlapped with the central axis of the loading and unloading device as much as possible when the laser radar is installed at the polar coordinate of 0 degree.
And calculating the position and the distance by using a laser radar ranging device and a trigonometric function. As shown in fig. 4 and 5. As shown in fig. 6, the center line of the cargo box is calculated:
left side distance
Figure 902262DEST_PATH_IMAGE001
，
Distance to the right
Figure 194746DEST_PATH_IMAGE036
，
The width of the cargo box is
Figure 521822DEST_PATH_IMAGE003
，
And calculating the position of the central axis of the carriage according to the width of the carriage.
As shown in fig. 7 to 9, the distance between the truck body and the truck compartment and the included angle between the heading angle of the truck body and the central axis of the truck compartment are calculated:
the automatic loading robot walks along the central axis in the container, and the point cloud data in the container are collected by a laser radar in the walking process; fitting an approximate straight line from the collected point cloud data through a least square algorithm, extracting straight line characteristics of two sides of the container, calculating the distance from the laser radar to the left side surface and the right side surface of the container, obtaining the distance deviation of the automatic loading robot deviating from the central axis of the container, and obtaining the angle deviation of the course angle of the automatic loading robot and the central axis of the container (namely the deviation angle of the automatic loading robot body relative to the container) through the slope characteristics of the two straight lines; according to the distance deviation and the angle deviation, the automatic loading robot can move to track the preset route.
Calculating left and right deviation:
left side distance:
Figure 540594DEST_PATH_IMAGE014
，
distance on right side:
Figure 953121DEST_PATH_IMAGE015
，
Figure 43436DEST_PATH_IMAGE037
the positive and negative of the difference result represent the moving direction, when the difference is positive, the robot needing to be automatically loaded needs to be shifted to the right, and when the difference is negative, the robot needing to be automatically loaded needs to be shifted to the left.
Calculating the angle deviation:
left side distance
Figure 225019DEST_PATH_IMAGE023
，
Distance to the right
Figure 680271DEST_PATH_IMAGE038
，
Figure 376832DEST_PATH_IMAGE025
，
Figure 942942DEST_PATH_IMAGE026
，
Figure 244610DEST_PATH_IMAGE039
The deviation angle of the body of the automatic loading robot relative to the container, namely the deviation angle of the course angle of the loading machine and the central axis of the container.
A schematic diagram of the hardware components of the loading system is shown in fig. 10.
As a further preferred scheme, after the vehicle body position measuring and calculating module performs the above calculation, the vehicle body position measuring and calculating module can also send 'position deviation rectifying' information to the automatic loading robot, so that the automatic loading robot can realize the deviation rectifying function, and the specific deviation rectifying algorithm, flow, control process and the like can be realized by adopting the prior art, and the invention is not detailed any more.
The automatic loading calculation module can adopt the following implementation modes:
the automatic loading calculation module is used for: planning the space position of the material in the boxcar. (the space position of the material in the boxcar can be planned by determining the position of the automatic loading robot and planning the target position of the material by combining the automatic loading calculation module.)
Aiming at the problem of loading the boxes, the maximum space utilization rate is solved by taking the loading sequence of the boxes and/or the spatial arrangement positions of the boxes in the truck as decision variables and taking the maximum volume ratio of the boxes as an objective function.
As a preferred technical solution, the constraint factor of the carton loading sequence includes: bottom area, weight, type, number, destination of the box.
As a preferred technical solution, the priority order of the constraint factors of the carton loading sequence is: destination > weight > floor area.
As a preferred technical solution, the objective function is:
Figure 870764DEST_PATH_IMAGE040
；
wherein the content of the first and second substances,
Figure 54621DEST_PATH_IMAGE041
the maximum volume of the component box is shown,
Figure 424422DEST_PATH_IMAGE042
the number of the component box is shown,
Figure 580597DEST_PATH_IMAGE043
the total number of the component cases is represented,
Figure 439968DEST_PATH_IMAGE044
display box
Figure 48804DEST_PATH_IMAGE042
Is long enough to be able to be used,
Figure 956717DEST_PATH_IMAGE045
display box
Figure 967399DEST_PATH_IMAGE042
The width of (a) is greater than (b),
Figure 997672DEST_PATH_IMAGE046
showing piece box
Figure 93804DEST_PATH_IMAGE042
Is high in the direction of the horizontal axis,
Figure 805408DEST_PATH_IMAGE047
indicating the length of the cargo space of the truck,
Figure 732912DEST_PATH_IMAGE048
indicating the width of the cargo space of the truck,
Figure 871770DEST_PATH_IMAGE049
indicating the height of the cargo space of the truck;
the constraint conditions of the spatial arrangement position of the carton in the truck comprise:
and (3) boundary constraint: the goods cannot exceed the boundary size of the loading space of the truck, and the formula is as follows:
Figure 455198DEST_PATH_IMAGE050
；
wherein the content of the first and second substances,
Figure 970493DEST_PATH_IMAGE051
the coordinates of the part box with the number m in the X-axis direction of the space rectangular coordinate system are shown,
Figure 752504DEST_PATH_IMAGE052
the coordinates of the part box with the number m in the Y-axis direction of a space rectangular coordinate system are expressed,
Figure 62263DEST_PATH_IMAGE053
and the coordinates of the part box with the number m in the Z-axis direction of the space rectangular coordinate system are shown.
As a preferred technical solution, the constraint conditions of the spatial arrangement position of the container in the truck further include:
carrying and restraining: the total volume and total weight of the loaded goods can not exceed the volume and carrying capacity of the loading space of the truck, and the formula is as follows:
Figure 132987DEST_PATH_IMAGE054
；
wherein t represents a standard number,
Figure 248710DEST_PATH_IMAGE055
the total number of the finished products is shown,
Figure 354070DEST_PATH_IMAGE056
the number of boxes of the finished gauge t is represented,
Figure 834730DEST_PATH_IMAGE057
the weight of the box of the fretting gauge t is shown,
Figure 392750DEST_PATH_IMAGE058
the total loading capacity of the truck is shown,
Figure 781006DEST_PATH_IMAGE059
the length of the box of the finished gauge t is shown,
Figure 475292DEST_PATH_IMAGE060
the width of the box of the fretting gauge t is shown,
Figure 392433DEST_PATH_IMAGE061
indicating the bin height of the master t.
As a preferred technical solution, the constraint conditions of the spatial arrangement position of the container in the truck further include:
and (3) overlapping constraint: any two loads cannot be overlapped, and the formula is as follows:
Figure 172170DEST_PATH_IMAGE062
；
wherein m and k represent the numbers of any two boxes,
Figure 629696DEST_PATH_IMAGE063
display box
Figure 444068DEST_PATH_IMAGE042
The coordinates of the x-axis of the lens,
Figure 266531DEST_PATH_IMAGE064
showing piece box
Figure 533564DEST_PATH_IMAGE042
The coordinates in the y-axis are,
Figure 794781DEST_PATH_IMAGE065
display box
Figure 463660DEST_PATH_IMAGE042
The coordinates in the z-axis are,
Figure 457024DEST_PATH_IMAGE066
the coordinates of the presentation box k in the x-axis,
Figure 273670DEST_PATH_IMAGE067
the coordinates of the presentation box k in the y-axis,
Figure 10682DEST_PATH_IMAGE068
the coordinate of the presentation box k in the z-axis,
Figure 534067DEST_PATH_IMAGE069
the length of the presentation box k is shown,
Figure 963911DEST_PATH_IMAGE070
the width of the presentation box k is such that,
Figure 267854DEST_PATH_IMAGE071
indicating the height of the part box k.
As a preferred technical solution, the constraint conditions of the spatial arrangement position of the container in the truck further include:
suspension restraint: the suspended area below the cargo cannot exceed half of its own bottom area, where cargo k is below cargo m, and the formula is:
Figure 542977DEST_PATH_IMAGE072
；
wherein the content of the first and second substances,
Figure 186448DEST_PATH_IMAGE073
the scale factor is expressed in terms of a scale factor,
Figure 583932DEST_PATH_IMAGE073
has a value range of [0,1]。
As a preferred technical solution, the constraint conditions of the spatial arrangement position of the container in the truck further include:
and (3) gravity center constraint: the stability of freight train needs to be guaranteed at the in-process that traveles of freight train, consequently needs plus the focus restraint, and the formula is:
Figure 312853DEST_PATH_IMAGE074
；
wherein the content of the first and second substances, (ii) (
Figure 391668DEST_PATH_IMAGE075
，
Figure 889645DEST_PATH_IMAGE076
，
Figure 723609DEST_PATH_IMAGE077
) As the barycentric coordinates of the cargo m, ((m))
Figure 674247DEST_PATH_IMAGE078
，
Figure 556753DEST_PATH_IMAGE079
) For the safe range of the center of gravity of the vehicle in the x-axis direction: (
Figure 67211DEST_PATH_IMAGE080
，
Figure 9759DEST_PATH_IMAGE081
) For the safety range of the center of gravity of the vehicle in the y-axis direction: (
Figure 447694DEST_PATH_IMAGE082
，
Figure 868311DEST_PATH_IMAGE083
) The safe range of the center of gravity of the vehicle in the z-axis direction.
As a preferred technical solution, the constraint conditions of the spatial arrangement position of the container in the truck further include:
and (4) restricting goods clearance by the formula:
Figure 137618DEST_PATH_IMAGE084
，
Figure 251068DEST_PATH_IMAGE085
；
wherein dd is oneThe row of remaining gaps is divided equally to the value of each gap,
Figure 176298DEST_PATH_IMAGE086
a designed goods space.
As a preferred technical solution, the constraint conditions of the spatial arrangement position of the container in the truck further include:
and (3) height difference constraint of a supporting surface:
Figure 400606DEST_PATH_IMAGE087
；
wherein, the first and the second end of the pipe are connected with each other,
Figure 524420DEST_PATH_IMAGE088
a number is indicated for a certain loading plane,
Figure 808771DEST_PATH_IMAGE089
representing the plane of loading
Figure 221298DEST_PATH_IMAGE088
The adjacent layer of (a) carries a plane number,
Figure 311613DEST_PATH_IMAGE090
representing the plane of loading
Figure 493196DEST_PATH_IMAGE088
The height of (a) of (b),
Figure 682869DEST_PATH_IMAGE091
representing the plane of loading
Figure 582692DEST_PATH_IMAGE092
The height of (a) of (b),
Figure 211119DEST_PATH_IMAGE093
representing the designed height difference of the supporting surface; the height difference of the loading surface of the adjacent layer is less than or equal to
Figure 512788DEST_PATH_IMAGE093
Approximately the same loading plane.
As described above, the present invention can be preferably realized.
All features disclosed in all embodiments in this specification, or all methods or process steps implicitly disclosed, may be combined and/or expanded, or substituted, in any way, except for mutually exclusive features and/or steps.
The foregoing is only a preferred embodiment of the present invention, and the present invention is not limited thereto in any way, and any simple modification, equivalent replacement and improvement made to the above embodiment within the spirit and principle of the present invention still fall within the protection scope of the present invention.

Claims (2)

1. The utility model provides an automatic loading system of piece case which characterized in that is used for: receiving vehicle scheduling information, sending loading task information to an automatic loading robot, and receiving loading request information and task execution feedback information sent by the automatic loading robot; the received vehicle scheduling information includes: vehicle basic information, box basic information, initial delivery order information, current available vehicle information, confirmed plan delivery order information and vehicle in-place information; the automatic carton loading system comprises an interface module, and further comprises a vehicle body position measuring module, an automatic loading calculation module, a task allocation module and a monitoring module which are in communication connection with the interface module; the interface module is used for: receiving vehicle scheduling information and connecting the vehicle scheduling information with an automatic loading robot in a communication way; the vehicle body position measuring and calculating module is used for: detecting the position of a vehicle body by using a laser radar, calculating the position of a central axis of the cargo box, the distance deviation of the automatic loading robot from the central axis of the cargo box, and the deviation angle of the vehicle body of the automatic loading robot relative to the cargo box; the automatic loading calculation module is used for: planning the space position of the material in the boxcar; the task allocation module is used for: distributing the vehicle scheduling information and the loading request information to respective loading tasks of the automatic loading robots; the monitoring module is used for: monitoring of the whole automatic loading process is provided;
the formula for calculating the axial line position in the cargo box is as follows:
Figure QLYQS_1
，
Figure QLYQS_2
，
Figure QLYQS_3
；
wherein the content of the first and second substances,
Figure QLYQS_8
the distance from the laser radar and the foot point of the vertical line of the tail end of the container inlet to the left end point of the tail end of the container inlet,
Figure QLYQS_6
is the distance between the laser radar and the left end point of the tail end of the cargo box inlet>
Figure QLYQS_9
The included angle between a connecting line between the laser radar and the left end point of the tail end of the cargo box inlet and a perpendicular line from the laser radar to the tail end of the cargo box inlet is formed, and the included angle is greater than or equal to the included angle between the connecting line and the perpendicular line from the laser radar to the tail end of the cargo box inlet>
Figure QLYQS_14
The distance between the laser radar and the vertical foot point of the vertical line at the tail end of the container inlet and the right end point of the tail end of the container inlet is greater or less than>
Figure QLYQS_7
The distance from the laser radar to the end point on the right side of the tail end of the container inlet,
Figure QLYQS_10
the included angle between a connecting line between the laser radar and the right end point of the tail end of the inlet of the cargo box and a perpendicular line from the laser radar to the tail end of the inlet of the cargo box is formed, and the included angle is used for judging whether the cargo box is in a normal state or not>
Figure QLYQS_13
Is the width of the cargo box;
calculating the distance deviation of the automatic loading robot from the central axis of the container
Figure QLYQS_15
The formula of (1) is:
Figure QLYQS_16
；
in the formula (I), the compound is shown in the specification,
Figure QLYQS_17
，
Figure QLYQS_18
；
wherein the content of the first and second substances,
Figure QLYQS_25
is the distance between the laser radar and the vertical line at the tail end of the inlet of the cargo box and the left box side of the cargo box, and is based on the standard deviation of the laser radar and the vertical line at the tail end of the inlet of the cargo box>
Figure QLYQS_22
Is based on the laser radar>
Figure QLYQS_26
The laser radar reaches the distance at the left side of the container during angle radiation, and then is turned on or off>
Figure QLYQS_32
An included angle between a connecting line from the laser radar to the left ranging point and the central line of the laser radar is formed, and>
Figure QLYQS_23
the distance between the laser radar and the vertical line at the tail end of the inlet of the packing case and the right side of the packing case is greater or smaller>
Figure QLYQS_31
Is based on the laser radar>
Figure QLYQS_20
The laser radar reaches the distance on the right side of the container during angle radiation, and then is turned on or off>
Figure QLYQS_28
The included angle between the connecting line from the laser radar to the right ranging point and the central line of the laser radar is formed; the left ranging point refers to an intersection point of the radial line and the left side of the packing box when the laser radar radiates towards the left side of the packing box, and the right ranging point refers to an intersection point of the radial line and the right side of the packing box when the laser radar radiates towards the right side of the packing box;
the formula for calculating the offset angle of the body of the automatic loading robot relative to the container is as follows:
Figure QLYQS_33
，/>
Figure QLYQS_34
，
Figure QLYQS_35
，
Figure QLYQS_36
；
wherein the content of the first and second substances,
Figure QLYQS_39
is based on the laser radar>
Figure QLYQS_43
The vertical distance from the left distance measuring point to the central axis of the automatic loading robot during angle radiation,
Figure QLYQS_46
is based on the laser radar>
Figure QLYQS_40
The distance from the laser radar to the left side of the cargo box during angle radiation>
Figure QLYQS_42
Is the included angle between the connecting line from the laser radar to the left ranging point and the central axis of the automatic loading robot, and the position of the connecting line is regulated according to the set value>
Figure QLYQS_45
Is based on the laser radar>
Figure QLYQS_48
The vertical distance from the ranging point to the central axis of the automatic loading robot during angle radiation, and the length of the long distance from the ranging point to the central axis of the automatic loading robot>
Figure QLYQS_37
Is based on the laser radar>
Figure QLYQS_41
The distance from the laser radar to the right side of the cargo box during angular irradiation,
Figure QLYQS_47
is the included angle between the connecting line from the laser radar to the right ranging point and the central axis of the automatic loading robot, and the position of the connecting line is regulated according to the set value>
Figure QLYQS_49
Is half of the width of the container and is used for keeping the position of the container in the normal position>
Figure QLYQS_38
，/>
Figure QLYQS_44
The deviation angle of the automatic loading robot body relative to the container is set;
aiming at the problem of loading the boxes, taking the loading sequence of the boxes and/or the space placing positions of the boxes in the truck as decision variables, taking the maximum volume ratio of the boxes as an objective function, and solving the maximum space utilization rate;
the constraint factors of the carton loading sequence comprise: bottom area, weight, type, number, destination of the box;
the priority order of the restraint factors of the carton loading sequence is as follows: destination > weight > floor area;
the objective function is:
Figure QLYQS_50
；
wherein, the first and the second end of the pipe are connected with each other,
Figure QLYQS_54
represents the maximum volume proportion of the device housing>
Figure QLYQS_57
Represents the case number and is selected>
Figure QLYQS_60
Indicates the total number of the device boxes, and>
Figure QLYQS_53
indicating box->
Figure QLYQS_56
Long,. Or>
Figure QLYQS_59
Indicating box->
Figure QLYQS_61
Is wide,. Sup.,>
Figure QLYQS_51
indicating box->
Figure QLYQS_55
Is high,. Sup.,>
Figure QLYQS_58
indicating the length of the cargo space of the truck>
Figure QLYQS_62
Indicating the width of the loading space of the truck>
Figure QLYQS_52
Indicating the height of the cargo space of the truck;
the constraint conditions of the spatial arrangement position of the carton in the truck comprise:
boundary constraint, bearing constraint, overlapping constraint, suspension constraint, gravity center constraint, goods clearance constraint and supporting surface height difference constraint.
2. An automatic component box loading method, characterized in that the automatic component box loading system of claim 1 is adopted, and the method comprises the following steps:
the method comprises the following steps of S1, receiving vehicle scheduling information sent by a vehicle scheduling system, loading request information sent by an automatic loading robot and task execution feedback information;
s2, sending loading task information to an automatic loading robot;
and S3, feeding back the task execution feedback information to the vehicle scheduling system.
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