RU2364565C1 - Loader control system for piece freight packaging - Google Patents

Abstract

FIELD: instrument engineering.

SUBSTANCE: invention refers to instrument engineering and covers handling control of near-parallelepiped-shaped piece freight of approximately the same height, e.g. parcels, letter correspondence boxes, etc., and can be used in automatic or manual freight packaging. Specified system comprises measurement complex (1), system unit (2), memory unit (3), freight area calculation unit (4), freight shape factor calculation unit (5), unit (6) for area, shape factor, weight and load sequence freight ranking, pack-design unit (7) that specifies freight position on layer formation plane by criterion of minimum shape factor of space free after freight is placed thereon. Restrictions to number of packaged freight layers and to weight-bearing capacity are considered as well.

EFFECT: invention provides maximum freight packaging density, observes restriction to weight-bearing capacity and minimises height of centre of gravity of a loaded pallet box whenever possible.

2 dwg

Description

The invention relates to the field of instrumentation and can be used to automate the loading of goods, in a shape close to the box, of approximately the same height, for example parcels, mailboxes with written correspondence, etc. in containers.

Known devices SU 1244061, 1986; SU 1244062, 1986; as well as described in [Bulanov EA, Tretenko Yu.I. Lifting and handling devices of postal service: Textbook. manual for universities. - 2nd ed., Revised. and add. - M .: Radio and communications, 1990. - 223 pp.], The use of which, for example, when automating the loading of parcels into containers is inefficient, since it does not provide close to maximum values of the volumetric filling factors and container stability.

In this regard, the closest to the laying principle is the system for loading containers with parcels using loading robots that simulate the manual loading process (see Bulanov E.A., Tretenko Yu.I. Hoisting and loading and unloading devices of postal service: Textbook for universities. - 2nd ed., revised and enlarged. - M .: Radio and communications, 1990. - p.190), in which parcels are recognized, oriented, received, loaded, their sizes are determined and placed on shelves; The computer, which remembers the size of the parcels, calculates the loading sequence for optimal styling and sends commands to the loading robot, which takes the corresponding parcel from the shelves and places it in the container along the path specified by the computer.

The disadvantages of the prototype are that when measuring the characteristics of the parcels, its mass is not taken into account, as a result of which it is impossible to ensure compliance with the load limit of the container when loading, and also, if possible, minimize the height of the center of gravity of the loaded container.

The problem to which the invention is directed, is to ensure compliance with restrictions on the carrying capacity of the container and minimize, if possible, the height of the center of gravity of the loaded container.

The solution to this problem is achieved by the fact that in the proposed system, when determining the position of the cargo in the container, measurement information is used about the overall dimensions and mass of the goods, the sequence of the goods arrival, the overall dimensions and the carrying capacity of the container. Moreover, the control system of the loading device includes a measuring complex (IR) to determine the overall dimensions, mass and sequence of receipt of goods; the system unit (SB), which receives information from the IR, as well as information about the locations of incoming goods, the time of the end of the receipt of goods and the readiness to work on packing the goods into the container of the executive mechanisms of the loading device or operator; a storage device (memory) in which information from the SB is accumulated; a unit for measuring the cargo area (BIP), into which data on the cargo length l _g and cargo width m _g are transmitted from the first output of the storage device, based on which the cargo area S _g = l _g · m _{g is} calculated; a unit for calculating the shape factor of the cargo (BRF), into which data on the length of the cargo l _g and the width of the cargo m _g are transmitted from the second output of the storage device, based on which the calculation of the coefficient of the shape of the cargo K _fg = l _g / m _g ; a cargo ranking unit (BR), the first and second inputs of which from the BIP and the BRF receive the values of the calculated parameters, respectively, S _g and K _fg , and the third input receives information from the third output of the storage device about the mass of the cargo g _g and the sequence of the load entering the device, loads are assigned numbers 1, 2, ... in the sequence of decreasing values of S _g , while if two loads have the same value of S _g , then a smaller number is assigned to a load with a higher value of K _fg , if the loads have the same values of S _g and K _fg , then assigning a smaller number is given to a cargo with a larger mass, if the goods have the same values of S _g , K _fg and mass, then a smaller number is assigned to the cargo that has previously arrived at the device; a modeling unit for packing goods into a container (BM), where information is stored on the internal dimensions of the container body: length L> l _g , width M> m _g , height H greater than the height of the laid loads h _g , as well as the permissible total mass of cargo G, stacking in the container, and where BR is supplied from the calculated sequence number for the goods with the dimensions _r l, m _g g _g and a weight, and wherein on the basis of this data is made the optimum layout plan of goods on the plane forming layer and the verification of compliance with limitations on the load the container and the number of stacking layers; a control device for executive mechanisms and a loading body (CU), the first input of which from the fourth output of the memory transmits information on the correspondence of the number of the received cargo to the number of the preliminary storage of the cargo, and the second and third inputs, respectively, of the first and second outputs of the BM - about the calculated feed sequence of goods for packing in a container and on the position of goods in the container, on the basis of which a synchronized sequence of commands is formed that control the executive mechanisms and ruzochnym authority; the operator’s automated workstation (AWS), on the monitor of which the optimal plan for packing goods in the container can be visualized based on information received from the second input of the BM, according to which the operator can manually place the load in the container in the desired position.

The invention is illustrated by drawings, where figure 1 shows a fragment of a structural diagram of a control system of a loading device that implements the proposed method, figure 2 is an example of determining the position of the cargo when laying in a container.

The control system of the loading device includes a measuring complex for determining the overall dimensions, mass and sequence of receipt of goods IK 1; SB 2 system unit, the input of which is connected to the information output of IK 1, while the SB receives information about the locations of incoming goods, about the measured time of the end of the arrival of goods, and about the readiness for work to put the goods into the container of the executive mechanisms of the loading device or operator ( figure 1 is not shown); in the storage device of the memory 3 accumulates information from SB 2; unit for measuring the cargo area BIP 4, to the input of which from the first output of the storage device 3 the measurement results are transmitted on the cargo length l _g and cargo width m _g , on the basis of which the cargo area S _g = l _g · m _{g is} determined; a unit for calculating the shape factor of the cargo BRF 5, to the input of which from the second output of the storage device 3 data are transmitted on the measured length of the cargo l _g and the width of the cargo m _g , based on which the determination of the shape coefficient of the cargo K _fg = l _g / m _g ; unit for ranking cargoes BR 6, the first and second inputs of which from BIP 4 and BRF 5 receive signals about the values of the calculated parameters, respectively, S _g and K _fg , and the third input receives from the third output of memory 3 a measuring signal about the mass of the cargo g _g and sequence the goods arrive at the device, incoming goods are assigned serial numbers 1, 2, ... in the sequence of decreasing values of S _g , in this case, if two goods have the same S _g value, then a smaller number is assigned to the cargo with a large value of K _fg , if the goods have the same high values of S _g and K _fg , then a smaller number is assigned to a load with a larger mass, if the goods have the same values of S _g , K _fg and mass, then a smaller number is assigned to a load previously received in the device; the sequence of delivering the cargo in such a way that is formed in this way ensures that, when the load is correctly positioned on the plane, the maximum stacking density, the minimum height of the center of gravity of the loaded container is possible, the principle “first come in, first loaded” is respected, and the modeling unit for packing the goods into the BM 7 container, where information on the internal dimensions of the container body: length L> l _g , width M> m _g , height H greater than the height of the goods to be laid h _g , as well as the permissible total weight g of bonds G placed in a container, and where from BR 6 the formed sequence of cargo serial numbers with dimensions l _g , m _g and mass g _g is received, and in which, based on this measurement information, an optimal plan for the location of goods on the layer formation plane is compiled and verification of compliance restrictions on the carrying capacity of the container and the number of layers to be laid; a control device for actuators and loading bodies UU 8, the first input of which from the fourth output of the storage device 3 receives an information signal on the correspondence of the number of incoming cargo to the cell number of the preliminary storage of cargo, and the second and third inputs, respectively, from the first and second outputs of BM 7 - about the formed the sequence of supply of goods for laying in the container and the position of the goods in the container, on the basis of which a synchronized sequence of commands is formed that control the executive mechanisms and the loading body; automated workstation of the operator AWP 9, on the monitor of which the process of forming the optimal plan for packing goods in the container can be visualized based on the measurement information received from the second input of BM 7, according to which the operator can manually adjust the sequence of packing the cargo into the container in the desired position .

The proposed control system boot device for packing piece goods in a container works as follows.

Measuring signals about the overall dimensions, mass and sequence of goods received from IK 1 are transmitted to SB 2, which also receives measuring information about the locations of incoming goods, the time at which goods arrived, and their readiness for packing cargo into the container of the executive mechanisms of the loading device or operator . From SB 2, the measurement information is transmitted for accumulation in the memory 3 (figure 1).

According to the signal about the beginning of the packing of goods in the container coming from SB 2, the measuring signals of the first and second outputs of the charger 3 about the cargo length l _g and cargo width m _g are transmitted to BIP 4 and BRF 5, about the measured mass of the cargo g _g and the sequence of cargo arrival to the device - from the third exit to the third input of BR 6, on the correspondence of the serial number of the received cargo to the number of the cargo preliminary storage unit - from the fourth exit to the first entrance of UU 8.

In BIP 4, the cargo area S _g = l _g · m _{g is} determined, and in BRF 5, the form factor of the cargo K _fg = l _g / m _g . The values of the generated signals about the parameters S _g and K _fg come from BIP 4 and BRF 5, respectively, to the first and second inputs of BR 6.

In BR 6, loads are assigned serial numbers 1, 2, ... in a decreasing sequence of S _g values _. Moreover, if two loads have the same S _g value, a smaller number is assigned to a cargo with a higher value of K _fg. If the goods have the same values of S _g and K _fg , then a smaller number is assigned to the cargo with a larger mass. If the goods have the same values of S _g , K _fg and mass, then a smaller number is assigned to the cargo, previously received in the loading device. Formed in this way, the sequence of delivering goods to the stacking ensures that, when the load is correctly positioned on the plane, the maximum stacking density, the minimum height of the center of gravity of the loaded container, and the first-in-first-out principle are observed. The generated sequence of serial numbers of cargo with dimensions l _g , m _g and mass g _{g is} fed to input BM 7, which determines the location of the cargo on the plane of formation of the layer and verifies compliance with restrictions on the carrying capacity of the container and the number of layers to be laid.

BM 7 stores measurement information on the internal dimensions of the container body: length L> l _g , width M> m _g , height H greater than the height of the goods to be loaded h _g , and also on the permissible total mass of goods G placed in the container. Based on the available measurement information and signals received from the BR 6, in BM 7 an optimal plan for the placement of goods in the container is formed. Modeling of the packing of goods, represented by parallelepipeds of the same height h _g with dimensions in terms of l _g · m _g and mass g _g , is carried out sequentially in layers, starting from the bottom. Filling of each layer in the container is carried out sequentially, starting from one of the farthest, for example, right, relative to the loading organ of the container corners in two mutually perpendicular directions. A prerequisite for modeling the packing of goods inside the layer is the abutment of two adjacent sides of the goods to be laid either to the inner walls of the container body, or to the wall and side of the adjacent cargo, or to the sides of neighboring goods from the angle from which the filling of the container begins.

The criterion for determining the position of the cargo on the plane of formation of the layer at each step of the stacking of goods is the minimum coefficient of the shape of the space that remains free after placing this cargo on the plane, K _fs , the formula for calculating which has the form

where i = 1, 2, ..., n is the number of the rectangle in the remaining space after placing the laid cargo in free space when the latter is divided into rectangles by lines passing from the ribs of the cargo, not in contact with the walls of the body or adjacent loads, parallel to the sides of the container; l _i - the length of the i-th rectangle; n is the number of rectangles in the remaining free space of the container; S _to = L · M is the cross-sectional area of the container body; S _z - the area of the plane of formation of the layer occupied by the laid loads; S _n - the area of the plane of formation of the layer, inconvenient for loading, equal to the area of the rectangle adjacent to the protrusion of the placed cargo from the side opposite to the direction of loading. The rectangles formed when dividing the free space by lines running along the longitudinal side of the container may differ from the rectangles formed when dividing the free space by lines running along the transverse side of the container, so the values of K _fs may be different _. As a result of this, for each possible variant of cargo placement on the plane of layer formation in the container, two values of K _{fs are} determined _. Finally, such a variant of cargo placement is selected that ensures a minimum of K _fs .

Figure 2 shows, by way of example, possible placement options on the plane of formation of cargo layer No. 2 after the position of cargo No. 1 has been determined. To select the position in which the load No. 2 should be laid, the coefficients K _fs are calculated:

and the position of the load is selected at which the value of K _fs has a minimum value.

For shown in figure 2, the ratio of the dimensions of the cross section of the container body (plane of formation of the layer) M = 0,667L and the placed loads l _g1 = 0,417L; m _g1 = 0.25L; l _r2 = 0,333L; m _r2 = 0,167L minimum value has _fs41 coefficient K = 1.27, so when stacking the goods must take №2 4 position.

After the first iteration of the placement of goods on the layer formation plane, inside the layer there may remain empty sections that need to be checked in turn, starting from the section with a larger area, according to the method described above, for the possibility of stacking goods from the ranked sequence stored in BR 6, with the exception of stacked goods. Thus, a maximum or close to maximum density stacking of goods on the surface of the formation of each layer is achieved. The process of modeling the packing of goods in a container in BM 7 continues until the number of layers exceeds the permissible value of H / h, the total mass of the loaded goods does not exceed the specified load capacity of the container G, or there are no goods left in the ranked sequence coming from BR 6. From BM 7, the data on the formed sequence of supply of goods for laying in a container is transmitted from the first exit to the second input of UU 8, and the measurement results on the position of goods in the container are transferred from the second exit to the third entrance of UU 8 and to monitor A M 9 statement.

On the basis of the measuring information and the corresponding signals received from BM 7 and memory 3, a synchronized sequence of commands is formed in the control unit 8 that controls the operation of the actuators and the boot organ. In accordance with the plan for storing goods in a container, visualized on the AWP 9 monitor, the operator has the opportunity to adjust the order of packing in the container according to the measurement information and the corresponding signals received from BM 7.

Claims (1)

The control system of the loading device for packing piece goods in a container contains a series-connected measuring complex (IR) (1) for determining the overall dimensions, mass and sequence of receipt of goods, a system unit (SB) (2), which receives measurement information from IR (1 ), as well as information about the locations of incoming goods, the time of the end of the arrival of goods and readiness for work on packing the goods in the container of the executive mechanisms of the loading device or operator and a device (memory) (3), in which information is collected from the SB (2), as well as a unit for measuring the cargo area (BIP) (4), the input of which from the first output of the memory receives data on the cargo length l _g and cargo width m _g , on the basis of which the cargo area S _g = l _g · m _{g is} determined, a unit for calculating the load shape coefficient (BRF) (5), to the input of which from the second output of the storage device (3) data on the cargo length l _g and width are transmitted cargo m _g , on the basis of which the calculation of the coefficient of the shape of the cargo K _fg = l _g / m _g , block ranking the cargo (BR) (6), on the first and the second inputs of which from the BIP (4) and BRF (5) receive signals about the value of the parameters S _g and K _fg , respectively, and the third input receives from the third output of the charger (3) information about the mass of the cargo g _r and the sequence of receipt of the cargo into the device, in BR (6), cargoes are assigned numbers 1, 2, ... in a decreasing sequence of S _g values, and if two cargoes have the same S _g value, a smaller number is assigned to a cargo with a higher value of K _fg , if the cargo has the same S _g value and K _fg , then a smaller number is assigned to a cargo with a larger mass, ec if the cargoes have the same values of S _g , K _fg and weight, then a smaller number is assigned to the cargo that was previously delivered to the device, the modeling unit for packing goods in a container (BM) (7), which stores information about the internal dimensions of the container body: length L> l _g , width M> m _g , height H greater than the height of the goods to be loaded h _g , as well as the permissible total mass of goods G placed in the container, and where the formed sequence of cargo numbers with dimensions l _g , m comes from the BR (6) _g g _g and a weight, and wherein on the basis of this information, the optimal plan for the location of goods on the plane of layer formation is left and verification of compliance with restrictions on the carrying capacity of the container and the number of layers to be laid, the control device for actuators and the loading organ (UE) (8), the first input of which from the fourth exit of the storage unit (3) transmits information about compliance the numbers of the received cargo to the cell number of the preliminary cargo storage, and to the second and third inputs respectively from the first and second outputs of the BM - about the calculated delivery sequence Uzes for stacking the container and on the status of goods in the container.

Images