A cargo positioning method for a fast-loading device

Abstract

The present invention discloses a method for positioning cargo of a fast-loading device. The present invention comprises the following steps: S1: installing a fast-loading device for horizontal and vertical bidirectional transportation in a carriage; S2: during the loading and unloading process, obtaining cargo information corresponding to the cargo by identifying the identification label on the cargo, and judging whether there is interference in the cargo transportation track by combining the transportation direction with the positioning identification point set on the edge of a single fast-loading device; S3: after the loading and unloading is completed, judging the stability of the cargo by combining the pressure distribution with multi-dimensional image recognition. During the loading and unloading process, the cargo transportation track is identified to judge whether there is transportation interference; during the transportation process, the cargo is positioned, fully considering the problem of the narrow carriage to avoid affecting the subsequent loading and unloading of the cargo. After the loading and unloading is completed, whether the cargo is stable is identified, and the safety of the transportation process is ensured while the cargo is accurately positioned.

Description

Technical Field

[0001] The invention relates to the field of cargo positioning, and in particular to a cargo positioning method for a fast-loading device. Background Art

[0002] With the increasing automation of logistics systems, automated equipment has gradually replaced manual labor in the handling of goods in many scenarios, reducing labor intensity.

[0003] As a part of cargo handling, the quick-loading device transports the cargo to the next link through various conveying structures, such as rollers. When using the quick-loading device to transport cargo, it is necessary to position the cargo so that the cargo fits the transport track to ensure the efficiency of the transport.

[0004] The positioning of goods can effectively manage the goods. For example, a "Cargo Positioning and Control Method Based on RFID" disclosed in a Chinese patent document, with the publication number CN106067046A, includes: setting a first RFID tag on the goods and setting a second RFID tag in the warehouse; when the goods are stored in the warehouse, scanning the first RFID tag and the second RFID tag at the same time; sending the scanned first data to the remote server; the remote server establishes an association between the first RFID tag and the second RFID tag so that the goods are located in the warehouse. The present invention can effectively control the location information of RFID goods, and is particularly suitable for the Internet of Things management and control of large-scale warehousing and control systems consisting of multiple warehouses.

[0005] This solution is suitable for large warehouses but not for truck compartments with limited space. It cannot solve the problem of using a fast-loading device due to limited space and need to accurately consider the position of the goods in the compartment to avoid affecting the loading and unloading of subsequent goods during the loading and unloading process. Summary of the invention

[0006] The present invention mainly solves the problem that the prior art does not take into account the narrow compartment and requires precise positioning when loading and unloading goods using a fast-loading device; it provides a cargo positioning method for a fast-loading device, which identifies the transportation trajectory of the cargo during the loading and unloading process and determines whether there is transportation interference; after the loading and unloading is completed, it identifies whether the cargo is stable, and ensures the safety of the transportation process while accurately positioning the cargo.

[0007] The above technical problems of the present invention are mainly solved by the following technical solutions:

[0008] A method for positioning cargo of a fast-loading device comprises the following steps:

[0009] S1: Install a fast-loading device for horizontal and vertical bidirectional transportation in the carriage;

[0010] S2: During the loading and unloading process, the cargo information corresponding to the cargo is obtained by identifying the identification tags on the cargo, and the positioning identification points set on the edge of a single fast-loading device are combined with the transportation direction to determine whether there is interference in the cargo transportation trajectory;

[0011] S3: After loading and unloading is completed, the stability of the cargo is determined through multi-dimensional image recognition combined with pressure distribution.

[0012] This solution identifies the transportation track of the goods during loading and unloading, and determines whether there is any transportation interference; it locates the goods during transportation, taking into full consideration the problem of the narrow carriage to avoid affecting the subsequent loading and unloading of goods. After loading and unloading, it identifies whether the goods are stable, accurately locates the goods, and ensures the safety of the transportation process.

[0013] Preferably, the said fast-loading device for horizontal and vertical bidirectional transportation comprises a horizontal conveyor belt and a vertical conveyor belt arranged on the platform of the fast-loading device; each fast-loading device is respectively provided with a control module which is connected to each other in communication, and the control module sequentially controls the corresponding horizontal conveyor belt or the vertical conveyor belt to transport the goods according to the selected order of goods transportation. The goods are transported by horizontal and vertical bidirectional conveyor belts, making the goods transportation more flexible.

[0014] Preferably, the positioning identification points include a number of small holes evenly arranged along the edge of a single fast-loading device, and a light source is arranged in the small holes. Through the imaging of the small holes, the edge of the single fast-loading device is magnified and displayed on the top of the carriage as a distributed far point, and the position of the blocked light point and the blocked area are calculated through image recognition to calculate the approximate position of the pallet where the goods are located, so as to accurately locate the position and trajectory of the goods during transportation, and to determine whether there will be interference in transportation.

[0015] As a preferred embodiment, the process of interference judgment is:

[0016] A1: Light up the light source to form a light spot corresponding to the small hole on the top of the car; record and mark the position and area of ​​the initial light spot through the camera;

[0017] A2: Obtain the planned path information of the goods through the identification tag on the goods; the fast-loading device controls the horizontal or vertical transportation of the goods according to the planned path information; when the goods are transported to the next fast-loading device or turn, the judgment of step A3 is performed until the goods arrive at the designated location;

[0018] A3: According to the location and transportation direction of the goods, determine whether there are obstacles on both sides of the goods transportation direction; if so, proceed to step A4 for determination, otherwise return to step A2;

[0019] A4: Identify the size of each light spot on both sides; calculate the shielding area and the shielding area change, compare them with the corresponding thresholds, and control the transportation direction of the fast-loading device;

[0020] A5: Determine whether the goods need to be diverted. If so, determine whether the diversion conditions are met; otherwise, return to step A2;

[0021] A6: When both the front and rear light spots of the single fast-carrying device along the original transport direction are blocked, the turning condition is met and the process returns to step A2; otherwise, the device moves forward and backward along the original transport direction until the turning condition is met and the process enters step A2.

[0022] The extent to which the light spots on both sides are blocked can be used to determine whether there will be interference in transportation, thereby improving transportation efficiency and safety.

[0023] Preferably, the cargo information includes transportation distance, value and factors affecting transportation;

[0024] Factors affecting transportation include fragile goods, flammable and explosive goods, corrosive goods and ordinary goods. The importance and priority are determined according to different dimensions of goods attributes, and the order of loading and unloading of goods is formulated accordingly.

[0025] According to the value of the goods and the transportation distance, the importance of the goods is calculated by weight G i ;

[0026]

[0027] Among them, G i Score the importance of the goods on the i-th pallet;

[0028] ω V is the value coefficient;

[0029] V i is the value of the goods on the i-th pallet;

[0030] is the average value of all goods;

[0031] ω L is the transport distance coefficient;

[0032] L i is the transportation distance of the goods on the i-th pallet;

[0033] L is the standard distance of the transportation journey.

[0034] The importance of the goods is calculated based on their value and transportation distance. The greater the value, the higher the importance of the goods; the longer the transportation distance, the lower the importance of the goods.

[0035] Preferably, the calculation of cargo transportation priority includes:

[0036] Classify goods according to factors affecting their transportation and count the quantity of each type of goods;

[0037] Calculate the priority D based on the quantity and importance of similar goods i ;

[0038]

[0039] Among them, D i is the priority of the goods on the i-th pallet;

[0040] M k is the total number of goods of category k corresponding to the goods;

[0041] M is the total number of goods.

[0042] The priority is calculated based on the quantity of the same type, which is used to determine which type of goods should be unloaded first during unloading.

[0043] Preferably, a matrix pressure sensor is provided on the rapid loading device; the center of gravity position and center of gravity offset of the corresponding goods are calculated according to the numerical values ​​of the matrix pressure sensor.

[0044] Preferably, the cargo stability determination process in step S3 is as follows:

[0045] S301: photographing the cargo transportation status in the carriage from multiple angles and establishing a three-dimensional point cloud coordinate system after unifying the coordinate system;

[0046] S302: Obtaining the center of gravity position of the cargo in two dimensions according to the identification data of the matrix pressure sensor;

[0047] S303: Unify the coordinate system of the pressure sensor and the three-dimensional point cloud coordinates, obtain the height coordinates of the center of gravity of the cargo according to the point cloud density, and obtain the spatial coordinates of the center of gravity of the cargo by combining the two-dimensional center of gravity position obtained by the matrix pressure sensor;

[0048] S304: Determine whether the spatial coordinates of the center of gravity are within a preset center of gravity threshold range; if so, determine that the cargo has good stability; otherwise, determine that the cargo has a risk of overturning and warn relevant personnel.

[0049] The beneficial effects of the present invention are:

[0050] 1. Identify the transportation track of the goods during the loading and unloading process to determine whether there is any transportation interference; position the goods during transportation, taking into full consideration the problem of the narrow carriage to avoid affecting the subsequent loading and unloading of goods.

[0051] 2. After loading and unloading, identify whether the goods are stable, accurately locate the goods and ensure the safety of the transportation process.

[0052] 3. Through pinhole imaging, the edge of a single fast-loading device is magnified and displayed on the top of the carriage as a distributed far point. The position of the blocked light spot and the blocked area are calculated through image recognition to calculate the approximate position of the pallet where the goods are located. This can accurately locate the position and trajectory of the goods during transportation and determine whether there will be interference in transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 The present invention is a flow chart of a cargo positioning method of a fast-loading device.

[0054] Figure 2 The utility model is a schematic diagram of a cargo loading structure of a fast loading device of the present invention.

[0055] In the figure, 1. fast-loading device platform, 2. transverse conveyor belt, 3. longitudinal conveyor belt, 4. tray, 5. small hole. DETAILED DESCRIPTION

[0056] The technical solution of the present invention is further specifically described below through embodiments and in conjunction with the accompanying drawings.

[0057] Example:

[0058] A cargo positioning method for a fast-loading device according to this embodiment, such as Figure 1 As shown, the following steps are included:

[0059] S1: Install a fast-loading device in the carriage for horizontal and vertical bidirectional transportation.

[0060] In this embodiment, the bottom of the van or container is spliced ​​and installed as shown in FIG. Figure 2 The speed-loading device shown.

[0061] The fast-loading device of this embodiment is a fast-loading device capable of bidirectional transportation. Figure 2 As shown, the fast-carrying device includes a transverse conveyor belt 2 and a longitudinal conveyor belt 3 arranged on a fast-carrying device platform 1.

[0062] The transverse conveyor belts 2 are respectively arranged on both sides of the fast-loading device platform 1; the longitudinal conveyor belt 3 is perpendicular to the transverse conveyor belt 2, and the longitudinal conveyor belt 3 is arranged between the two transverse conveyor belts 2, and the distance between the longitudinal conveyor belts 3 is adapted to the distance between the support legs at the bottom of the pallet 4.

[0063] Each fast-carrying device is provided with a control module that is in communication with each other. In this embodiment, the control module is arranged at the bottom of the fast-carrying device platform 1. The control module sequentially controls the corresponding transverse conveyor belt 3 or longitudinal conveyor belt 2 to transport the goods according to the selected order of goods transportation.

[0064] The goods are transported by horizontal and vertical bidirectional conveyor belts, making the transportation of goods more flexible and convenient for changing the relative position of the goods in the carriage.

[0065] S2: During the loading and unloading process, the cargo information corresponding to the cargo is obtained by identifying the identification tags on the cargo, and the positioning identification points set on the edge of a single fast-loading device are combined with the transportation direction to determine whether there is interference in the cargo transportation trajectory.

[0066] Each pallet is equipped with a cargo identification with cargo information recorded in it. The cargo identification includes QR code, RFID, barcode, etc., and the corresponding cargo attribute information is obtained by scanning.

[0067] Cargo information includes transportation distance, value and factors affecting transportation.

[0068] Factors affecting transportation include fragile goods, flammable and explosive goods, corrosive goods and ordinary goods.

[0069] Determine the importance and priority of the goods according to different attributes, and formulate the order of loading and unloading of the goods accordingly.

[0070] The calculation process of importance is:

[0071] According to the value of the goods and the transportation distance, the importance of the goods is calculated by weight G i ;

[0072]

[0073] Among them, G i Score the importance of the goods on the i-th pallet;

[0074] ω V is the value coefficient;

[0075] V i is the value of the goods on the i-th pallet;

[0076] is the average value of all goods;

[0077] ω L is the transport distance coefficient;

[0078] L i is the transportation distance of the goods on the i-th pallet;

[0079] L is the standard distance of the transportation journey.

[0080] The importance of the goods is calculated based on their value and transportation distance. The greater the value, the higher the importance of the goods; the longer the transportation distance, the lower the importance of the goods.

[0081] The priority calculation process is:

[0082] Classify goods according to factors affecting their transportation and count the quantity of each type of goods;

[0083] Calculate the priority D based on the quantity and importance of similar goods i ;

[0084]

[0085] Among them, D i is the priority of the goods on the i-th pallet;

[0086] M k is the total number of goods of category k corresponding to the goods;

[0087] M is the total number of goods.

[0088] The priority is calculated based on the quantity of the same type, which is used to determine which type of goods should be unloaded first during unloading.

[0089] The loading process during the loading phase is:

[0090] A1: Determine whether there is cargo in the carriage; if so, proceed to step A2; otherwise, load the cargo in order of importance from smallest to smallest.

[0091] A2: Obtain and compare the importance of the cargo to be loaded and the importance of the cargo in the carriage, estimate the loading location of the cargo to be loaded, and count the moving path.

[0092] A3: A new importance level is obtained by weighted calculation based on the moving path and the importance level.

[0093] The new importance level is calculated as follows:

[0094]

[0095] Among them, G′ i is the new importance of the goods on the i-th pallet;

[0096] Y i is the number of fast-loading devices that the moving path of the goods on the i-th pallet passes through;

[0097] Y c The number of fast-loading devices that the goods in the carriage pass through;

[0098] Y0 is the standard value of the moving path.

[0099] A4: Return to step A2 until the moving path no longer changes.

[0100] A5: Load the goods in order of importance from small to large.

[0101] The unloading process during the unloading phase is:

[0102] B1: Screen all cargo to be unloaded in the carriage;

[0103] B2: Cargo to be unloaded is classified according to factors affecting transportation;

[0104] B3: Sort the transport influencing factors by category from largest to smallest according to the average priority of the cargo to be unloaded in each transport influencing factor category;

[0105] B4: The cargo to be unloaded in the classification of various transport influencing factors is ranked from most important to least important;

[0106] B5: Unload the cargo to be unloaded according to the sequence.

[0107] The same type of goods are unloaded in order of importance, and different types of goods are unloaded first in order of priority. The loaded goods are more targeted.

[0108] The positioning identification point includes a plurality of small holes 5 evenly arranged along the edge of a single fast-carrying device, and a light source is arranged in the small holes 5.

[0109] Through pinhole imaging, the edge of a single fast-loading device is magnified and displayed as a distributed far point on the top of the car. The position of the blocked light spot and the blocked area are calculated through image recognition to calculate the approximate position of the pallet where the goods are located. This can accurately locate the position and trajectory of the goods during transportation, and determine whether there will be any interference in transportation.

[0110] The process of interference judgment is:

[0111] C1: Light up the light source to form a light spot corresponding to the small hole on the top of the car; use the camera to record and mark the position and area of ​​the initial light spot.

[0112] C2: The planned path information of the goods is obtained through the identification tags on the goods; the fast-loading device controls the horizontal or vertical transportation of the goods according to the planned path information.

[0113] When the goods are transported to the next fast-loading device or turn, the judgment of step A3 is performed until the goods arrive at the designated location.

[0114] C3: According to the location and transportation direction of the goods, determine whether there are obstacles on both sides of the goods transportation direction; if so, proceed to step C4 for determination, otherwise return to step C2.

[0115] C4: Identify the size of each light spot on both sides respectively; calculate the blocked area and the change of the blocked area, compare them with the corresponding thresholds respectively, and control the transportation direction of the fast-loading device.

[0116] △S Li =S Li -S Li-1

[0117] △S Ri =S Ri -S Ri-1

[0118] Among them, ΔS Li is the change in the area of ​​the i-th light spot on the left side of the transport direction;

[0119] ΔS Ri is the change in the area of ​​the i-th light spot in the transport direction;

[0120] S Li is the area of ​​the i-th light spot on the left side of the transport direction;

[0121] S Ri is the area of ​​the i-th light spot on the right side of the transport direction;

[0122] S Li-1 is the area of ​​the i-1th light spot on the left side of the transport direction;

[0123] S Ri-1 is the area of ​​the i-1th light spot on the right side of the transport direction.

[0124] According to the change of the shielding area, the deviation of the transportation direction of the goods on the fast-loading device can be magnified, and early adjustments can be made to ensure that the goods are transported in the center and will not interfere with the transportation of other goods.

[0125] C5: Determine whether the goods need to be diverted. If so, determine whether the diversion conditions are met; otherwise, return to step C2.

[0126] C6: When both the front and rear light spots of the single fast-carrying device along the original transport direction are blocked, the turning condition is met and the process returns to step C2; otherwise, the process moves forward and backward along the original transport direction until the turning condition is met and the process enters step C2.

[0127] The extent to which the light spots on both sides are blocked can be used to determine whether there will be interference in transportation, thereby improving transportation efficiency and safety.

[0128] S3: After loading and unloading is completed, the stability of the cargo is determined through multi-dimensional image recognition combined with pressure distribution.

[0129] S301: photographing the cargo transportation status in the carriage from multiple angles and establishing a three-dimensional point cloud coordinate system after unifying the coordinate system;

[0130] S302: Obtaining the center of gravity position of the cargo in two dimensions according to the identification data of the matrix pressure sensor;

[0131] S303: Unify the coordinate system of the pressure sensor and the three-dimensional point cloud coordinates, obtain the height coordinates of the center of gravity of the cargo according to the point cloud density, and obtain the spatial coordinates of the center of gravity of the cargo by combining the two-dimensional center of gravity position obtained by the matrix pressure sensor;

[0132] S304: Determine whether the spatial coordinates of the center of gravity are within a preset center of gravity threshold range; if so, determine that the cargo has good stability; otherwise, determine that the cargo has a risk of overturning and warn relevant personnel.

[0133] The solution of this embodiment identifies the transportation track of the goods during the loading and unloading process to determine whether there is any transportation interference; the goods are positioned during the transportation process, taking into full consideration the problem of the narrow carriage to avoid affecting the subsequent loading and unloading of the goods. After the loading and unloading is completed, it identifies whether the goods are stable, accurately locates the goods and ensures the safety of the transportation process.

Claims

1. A method for positioning cargo of a fast-loading device, characterized in that: The following steps are involved: S1: Install a fast-loading device for horizontal and vertical bidirectional transportation in the carriage; S2: During the loading and unloading process, the cargo information corresponding to the cargo is obtained by identifying the identification tags on the cargo, and the positioning identification points set on the edge of a single fast-loading device are combined with the transportation direction to determine whether there is interference in the cargo transportation trajectory; The positioning identification points include a number of small holes evenly arranged along the edge of a single speed-carrying device, and light sources are arranged in the small holes; Light up the light source to form a light spot corresponding to the small hole on the top of the carriage, and control the transportation direction of the fast-loading device by the degree of obstruction of the light spots on both sides of the cargo transportation direction; S3: After loading and unloading is completed, the stability of the cargo is determined through multi-dimensional image recognition combined with pressure distribution.

2. A cargo positioning method for a fast-loading device according to claim 1, characterized in that: The fast-carrying device for horizontal and vertical bidirectional transportation comprises a horizontal conveying belt and a vertical conveying belt arranged on a platform of the fast-carrying device.

3. A method for positioning cargo of a fast-loading device according to claim 2, characterized in that: Each fast-loading device is provided with a control module which is in communication with each other. The control module sequentially controls the corresponding transverse conveyor belt or longitudinal conveyor belt to transport the goods according to the selected order of goods transportation.

4. A method for positioning cargo of a rapid-loading device according to claim 3, characterized in that: The process of interference judgment is: A1: Light up the light source to form a light spot corresponding to the small hole on the top of the car; record and mark the position and area of ​​the initial light spot through the camera; A2: Obtain the planned path information of the goods through the identification tag on the goods; the fast-loading device controls the horizontal or vertical transportation of the goods according to the planned path information; when the goods are transported to the next fast-loading device or turn, the judgment of step A3 is performed until the goods arrive at the designated location; A3: According to the location and transportation direction of the goods, determine whether there are obstacles on both sides of the goods transportation direction; if so, proceed to step A4 for determination, otherwise return to step A2; A4: Identify the size of each light spot on both sides; calculate the shielding area and the shielding area change, compare them with the corresponding thresholds, and control the transportation direction of the fast-loading device; A5: Determine whether the goods need to be diverted. If so, determine whether the diversion conditions are met; Otherwise, return to step A2; A6: When both the front and rear light spots of the single fast-carrying device along the original transport direction are blocked, the turning condition is met and the process returns to step A2; otherwise, the device moves forward and backward along the original transport direction until the turning condition is met and the process enters step A2.

5. A cargo positioning method for a fast-loading device according to claim 1 or 4, characterized in that: The cargo information includes transportation distance, value and factors affecting transportation; Factors affecting transportation include fragile goods, flammable and explosive goods, corrosive goods and ordinary goods; According to the value of the goods and the transportation distance, the importance of the goods is calculated by weight G i ; Among them, G i Score the importance of the goods on the i-th pallet; ω V is the value coefficient; V i is the value of the goods on the i-th pallet; is the average value of all goods; ω L is the transport distance coefficient; L i is the transportation distance of the goods on the i-th pallet; L is the standard distance of the transportation journey.

6. A method for positioning cargo of a rapid loading device according to claim 5, characterized in that: The calculation of cargo transportation priority includes: Classify goods according to factors affecting their transportation and count the quantity of each type of goods; Calculate the priority D based on the quantity and importance of similar goods i ; Among them, D i is the priority of the goods on the i-th pallet; M k is the total number of goods of category k corresponding to the goods; M is the total number of goods.

7. A method for positioning cargo for a fast-loading device according to claim 1, 2 or 3, characterized in that: A matrix pressure sensor is arranged on the fast-loading device; the center of gravity position and the center of gravity offset of the corresponding goods are calculated according to the numerical values ​​of the matrix pressure sensor.

8. A method for positioning cargo of a rapid loading device according to claim 7, characterized in that: The cargo stability determination process in step S3 is as follows: S301: photographing the cargo transportation status in the carriage from multiple angles and establishing a three-dimensional point cloud coordinate system after unifying the coordinate system; S302: Obtaining the center of gravity position of the cargo in two dimensions according to the identification data of the matrix pressure sensor; S303: Unify the coordinate system of the pressure sensor and the three-dimensional point cloud coordinates, obtain the height coordinates of the center of gravity of the cargo according to the point cloud density, and obtain the spatial coordinates of the center of gravity of the cargo by combining the two-dimensional center of gravity position obtained by the matrix pressure sensor; S304: Determine whether the spatial coordinates of the center of gravity are within a preset center of gravity threshold range; if so, determine that the cargo has good stability; otherwise, determine that the cargo has a risk of overturning and warn relevant personnel.

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