Intelligent distribution method for rapid transformer loading

Abstract

The present invention relates to the field of intelligent warehousing, and in particular to the field of intelligent warehousing in the power supply chain industry, and more specifically to a method for intelligent allocation of transformer rapid loading, which is based on the image of the transport vehicle plate obtained on site, and through an automated loading allocation method, a transformer allocation plan is quickly obtained. And the generated result can be quickly converted into on-site site coordinates, so as to be compatible with commonly used on-site intelligent loading and unloading tools such as AGV and loading and unloading robots to achieve automated and intelligent loading. Applying the technical solution disclosed in the present invention in the large environment of intelligent warehousing can save labor costs, improve production efficiency, and promote the standardization, safety, and orderliness of warehousing operations.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, in particular to the field of intelligent warehousing in the power supply chain industry, and more specifically to an intelligent distribution method for rapid transformer loading. Background Art

[0002] The transformer referred to in the present invention refers to the power transformer in the power industry. In the power industry, the transformer is a large-scale equipment. At the same time, based on the particularity of the power equipment itself, the shipment of the transformer also has more stringent loading requirements than other types of materials.

[0003] At present, power storage warehouses have developed from the original traditional manual type to automatic and intelligent types. In the entire development process, loading and unloading automation is an important link and the main difficulty of storage automation. At present, manual loading and unloading methods cannot meet the requirements of automated and intelligent storage development. At the same time, manual participation in the loading and unloading process not only greatly affects the efficiency and effect of automated storage, but also has problems such as high safety risks.

[0004] In order to improve the degree of warehouse automation, the field has begun to develop intelligent loading and unloading equipment such as AGV or loading and unloading robots in the process of automated warehousing. These devices can realize the movement of materials in the warehouse with or without carrying materials in combination with the positioning coordinates of the warehouse site. However, during the loading process, when the materials arrive near the transport vehicle, how to load the materials onto the vehicle reasonably and efficiently is still the key and difficult problem to improve the efficiency of automated warehousing. Summary of the invention

[0005] The technical problem to be solved by the present invention is how to quickly generate a transformer loading allocation method after the transport vehicle enters the waiting loading area, and convert the allocation method into a form recognizable by intelligent devices such as AGV or loading and unloading robots, thereby improving the loading efficiency of automated and intelligent warehouses.

[0006] In order to solve the above technical problems, the present invention discloses a transformer rapid loading intelligent allocation method, comprising the following steps:

[0007] The first step is to obtain a scanned image of the vehicle plate to be loaded, and calculate the long side length m and the short side length n of the vehicle plate according to the scanned image;

[0008] The second step is to retrieve the corresponding transformer size data from the system according to the transformer model to be loaded, including the transformer's long side length a and short side length b, as well as the transformer's minimum allowable placement spacing distance s and the transformer's minimum allowable distance from the vehicle board edge r;

[0009] The third step is to calculate the number of transformers in two arrangements: the long side of the transformer is arranged along the long side of the vehicle board and the short side of the transformer is arranged along the long side of the vehicle board.

[0010] A: When the long sides of the transformers are arranged along the long sides of the vehicle board, [(mr) / (a+s)]×[(nr) / (b+s)] transformers can be arranged on the vehicle board;

[0011] B: When the short sides of the transformers are arranged along the long sides of the vehicle board, [(mr) / (b+s)]*[(nr) / (a+s)] transformers can be arranged on the vehicle board;

[0012] The fourth step is to compare the results obtained from the two arrangements in the third step. If the number of transformers in arrangement A is greater than or equal to the number of transformers in arrangement B, then A is considered to be the preferred option; if the number of transformers in arrangement B is greater than the number of transformers in arrangement A, then B is considered to be the preferred option.

[0013] The fifth step is to generate a loading cargo space allocation image according to the preferred solution in the fourth step, in which the transformers are arranged on the vehicle plate image according to the positions in the preferred solution.

[0014] The sixth step is to establish a coordinate system with a vertex of the vehicle plate as the origin, output the coordinate value of the center point of the transformer according to the loading plan, and convert it into actual site coordinates and transmit it to the AGV car or loading and unloading robot to realize automatic loading of the transformer.

[0015] As a preferred technical solution, the method for obtaining the scanned image of the vehicle plate to be loaded in the first step is: use a line scan camera to scan vertically above the vehicle to be loaded, arrange multiple linear data in chronological order, and form a complete image of the vehicle plate to be loaded.

[0016] In a preferred technical solution, a sixth step is also included, in which the coordinate position of the center point of the transformer in the field coordinate system is generated based on the relative position relationship between the center point of the transformer and the vehicle plate in the fifth step and in combination with the field coordinate position of the vehicle plate.

[0017] Further preferably, in the sixth step, a virtual coordinate system is first established, the on-site coordinate position of the vehicle plate is first converted into the virtual coordinate system, then the size data of the transformer is scaled proportionally in the virtual coordinate system, and the coordinates of the center point of the transformer in the virtual coordinate system are generated according to the optimal solution, and then according to the conversion relationship between the virtual coordinate system and the on-site site coordinate system, the coordinates of the center point of the transformer are converted into coordinate values ​​in the on-site site coordinate system.

[0018] Preferably, the virtual coordinate system takes the long side direction of the vehicle panel as the X-axis and takes the short side direction of the vehicle panel as the Y-axis.

[0019] More preferably, the origin of the virtual coordinate system is a vertex of the vehicle plate, and further preferably, the long side of the vehicle plate is along the positive direction of the X-axis, and the short side of the vehicle plate is along the positive direction of the Y-axis.

[0020] After adopting the technical solution disclosed in the present invention, an intelligent distribution plan for transformer loading can be generated quickly and efficiently after the transport vehicle enters the loading position, and the generated result can be quickly converted into on-site site coordinates, so as to adapt to commonly used on-site intelligent loading and unloading tools such as AGV and loading and unloading robots to achieve automated and intelligent loading. Applying the technical solution disclosed in the present invention in the intelligent warehousing environment can save labor costs, improve production efficiency, and promote the standardization, safety, and orderliness of warehousing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is the loading location allocation image obtained in the embodiment. DETAILED DESCRIPTION

[0022] In order to better understand the present invention, the present invention is further described below in conjunction with specific embodiments.

[0023] In this embodiment, we disclose a specific transformer rapid loading intelligent allocation method, including the following steps:

[0024] The first step is to obtain a scanned image of the vehicle plate to be loaded, and calculate the long side length m and the short side length n of the vehicle plate according to the scanned image;

[0025] In this embodiment, the method for obtaining the scanned image of the vehicle plate of the vehicle to be loaded is: using a line scan camera to scan vertically above the vehicle to be loaded, and arranging multiple linear data in time sequence to form a complete image of the vehicle plate of the vehicle to be loaded.

[0026] In order to ensure the accuracy of the vehicle plate image data, the line scan camera is fixed on the walking mechanism vertically above the vehicle plate, and the walking speed of the line scan camera is set to v according to the scanning frequency f of the line scan camera, so as to obtain a series of image data.

[0027] In this embodiment, after a series of "time-image" data, we form a complete image of the vehicle plate. After a simple color difference analysis of the image, we obtain that the long side length m of the vehicle plate is 6.2 meters, and the short side length n is 2.6 meters.

[0028] The second step is to retrieve the corresponding transformer size data from the system according to the transformer model to be loaded, including the transformer's long side length a and short side length b, as well as the transformer's minimum allowable placement spacing distance s and the transformer's minimum allowable distance from the vehicle board edge r;

[0029] For example, in this embodiment, the transformer has a long side length a of 1 meter and a short side length b of 0.6 meter. According to the requirements of this model of transformer, the minimum placement spacing s is 0.2 meter, and the minimum allowable distance r from the edge of the vehicle board is also 0.2 meter.

[0030] The third step is to calculate the number of transformers in two arrangements: the long side of the transformer is arranged along the long side of the vehicle board and the short side of the transformer is arranged along the long side of the vehicle board.

[0031] A: When the long sides of the transformers are arranged along the long sides of the vehicle board, [(mr) / (a+s)]×[(nr) / (b+s)] transformers can be arranged on the vehicle board;

[0032] B: When the short sides of the transformers are arranged along the long sides of the vehicle board, [(mr) / (b+s)]*[(nr) / (a+s)] transformers can be arranged on the vehicle board;

[0033] In this embodiment, the above data are combined to calculate:

[0034] In case A, the maximum number of transformers that can be placed on the vehicle board is [(6.2-0.2) / (1+0.2)]×[(2.6-0.2) / (0.6+0.2)]=5×3, i.e. 15 transformers.

[0035] In case B, the maximum number of transformers that can be placed on the vehicle board is [(6.2-0.2) / (0.6+0.2)]×[[(2.6-0.2) / (1+0.2)]=7×2, i.e. 14 transformers.

[0036] The fourth step is to compare the results obtained from the two arrangements in the third step. If the number of transformers in arrangement A is greater than or equal to the number of transformers in arrangement B, then A is considered to be the preferred option; if the number of transformers in arrangement B is greater than the number of transformers in arrangement A, then B is considered to be the preferred option.

[0037] As mentioned above, in the present embodiment, the number of transformers in case A is relatively large, so A is selected as the preferred solution.

[0038] The fifth step is to generate a loading cargo space allocation image according to the preferred solution in the fourth step, in which the transformers are arranged on the vehicle plate image according to the positions in the preferred solution.

[0039] like Figure 1 shown.

[0040] According to the relative position relationship between the center point of the transformer and the vehicle plate in the fifth step, and combined with the on-site coordinate position of the vehicle plate, the coordinate position of the center point of the transformer in the on-site coordinate system is generated, and the on-site coordinate value is transmitted to the AGV car or loading and unloading robot through the on-site control system to complete automatic loading.

[0041] The above is a specific implementation of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also considered to be within the protection scope of the present invention.

Claims

1. Intelligent distribution method for rapid transformer loading, characterized in that: The following steps are involved: The first step is to obtain a scanned image of the vehicle plate to be loaded, and calculate the long side length m and the short side length n of the vehicle plate according to the scanned image; The second step is to retrieve the corresponding transformer size data from the system according to the transformer model to be loaded, including the transformer's long side length a and short side length b, as well as the transformer's minimum allowable placement spacing distance s and the transformer's minimum allowable distance from the vehicle board edge r; The third step is to calculate the number of transformers in two arrangements: the long side of the transformer is arranged along the long side of the vehicle board and the short side of the transformer is arranged along the long side of the vehicle board. A: When the long side of the transformer is arranged along the long side of the vehicle board, [(mr) / (a+s)]×[(nr) / (b+s)] transformers can be arranged on the vehicle board; B: When the short sides of the transformers are arranged along the long sides of the vehicle board, [(mr) / (b+s)]*[ (nr) / (a+s)] transformers can be arranged on the vehicle board; The fourth step is to compare the results obtained from the two arrangements in the third step. If the number of transformers in arrangement A is greater than or equal to the number of transformers in arrangement B, then A is considered to be the preferred solution; if the number of transformers in arrangement B is greater than the number of transformers in arrangement A, then B is considered to be the preferred solution. Step 5: According to the preferred solution in the fourth step, a loading cargo space allocation image is generated, on which the transformers are arranged on the vehicle plate image according to the positions in the preferred solution; The sixth step is to establish a coordinate system with a vertex of the vehicle plate as the origin, output the coordinate value of the center point of the transformer according to the loading plan, and convert it into actual site coordinates and transmit it to the AGV car or loading and unloading robot to realize automatic loading of the transformer.

2. The intelligent distribution method for rapid transformer loading according to claim 1 is characterized in that: In the first step, the method for obtaining the scanned image of the vehicle plate to be loaded is: using a line scan camera to scan vertically above the vehicle to be loaded, arranging multiple linear data in chronological order, and forming a complete image of the vehicle plate to be loaded.

3. The intelligent distribution method for rapid transformer loading according to claim 1 is characterized in that: In the sixth step, the coordinate position of the transformer center point in the field coordinate system is generated based on the relative position relationship between the transformer center point and the vehicle plate in the fifth step and in combination with the field coordinate position of the vehicle plate.

4. The intelligent distribution method for rapid transformer loading according to claim 3 is characterized in that: In the sixth step, a virtual coordinate system is first established. The on-site coordinate position of the vehicle plate is first converted into the virtual coordinate system. Then the size data of the transformer is scaled proportionally in the virtual coordinate system, and the coordinates of the center point of the transformer in the virtual coordinate system are generated according to the optimal solution. Then, based on the conversion relationship between the virtual coordinate system and the on-site coordinate system, the coordinates of the center point of the transformer are converted into coordinate values ​​in the on-site coordinate system.

5. The intelligent distribution method for transformer rapid loading according to claim 4 is characterized in that: The virtual coordinate system takes the long side direction of the vehicle panel as the X-axis and takes the short side direction of the vehicle panel as the Y-axis.

6. The intelligent distribution method for rapid transformer loading according to claim 5 is characterized in that: The origin of the virtual coordinate system is a vertex of the vehicle plate.

7. The intelligent distribution method for rapid transformer loading according to claim 6 is characterized in that: The long side of the car plate is along the positive direction of the X axis, and the short side of the car plate is along the positive direction of the Y axis.

Images