An intelligent loading method for bagged materials based on spatial rectangular coordinate system

Abstract

The present invention discloses an intelligent loading method for bagged materials based on a spatial rectangular coordinate system, wherein the spatial rectangular coordinate is an XYZ coordinate system. When a loading vehicle enters a material loading lane, the loading control system detects the data of the loading vehicle and sends the detected parameters of the loading vehicle to the stacking software of the loading control system. The stacking software imports the input data into the XYZ coordinate system and calculates the coordinate parameters to determine the stacking type and the number of stacking layers. By adopting the above technical solution and a unified coordinate system, the loading and stacking procedure is simpler, and the stacking type can be easily switched according to the compartment conditions, saving the time for debugging and troubleshooting, reducing 90% of the debugging workload, and improving the loading efficiency; the parking position of the loading vehicle does not require human intervention, effectively reducing the human workload; the versatility is strong, and various stacking types are applicable; intermittent and multiple loading of bagged materials can be realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of bagged material loading, unloading and transportation. More specifically, the present invention relates to an intelligent loading method for bagged materials based on a spatial rectangular coordinate system. Background Art

[0002] In the prior art, the loading robot for bagged materials automatically loads the truck by using the stacking software on the industrial computer to read the length, width, height, number of loaded bags and the corresponding program number in the PLC to generate the stacking pattern, and then send the calculated stacking pattern (including offset value and number of bag releases) to the PLC. The loading robot enters the corresponding stacking program to place bags according to the offset value and number of bag releases given by the PLC; it also needs to adjust the bag placement height and posture according to the current number of bag placement layers and bag placement positions. The debugging of the loading robot is very cumbersome, and the stacking programs corresponding to different bag placement methods need to be calibrated, and the calibration data for each lane is inconsistent.

[0003] Figure 1 Schematic diagram of different stack types.

[0004] For carriages with a width greater than 2100mm, the loading robot follows the horizontal and vertical stacking procedure; Figure 1 The pile type on the left;

[0005] For carriages with a width between 1800mm and 2100mm, the loading robot follows the horizontal stacking procedure; Figure 1 The middle pile type;

[0006] For a flatbed car with a compartment railing of 0, the loading robot follows the horizontal placement + package pressing procedure, with the last layer being the package pressing; Figure 1 The pile type on the right;

[0007] From left to right, they are horizontal + vertical stacking type, horizontal stacking type and horizontal + pressed stacking type.

[0008] The problems and defects of the prior art loading robot palletizing are:

[0009] 1. After the palletizing software generates the palletizing pattern, it is forwarded to the loading robot by the PLC. The loading robot needs to adjust the palletizing program of the loading robot according to the palletizing position and the number of package placements given by the PLC. Since there is no unified coordinate system and different palletizing patterns correspond to different palletizing programs, the debugging workload is very large;

[0010] 2. The parking position of the loading vehicle has high requirements. The deviation between the front and rear of the vehicle cannot exceed 3°, because the loading robot program can only place the package according to the standard package placement program, otherwise it will affect the flatness of the stack;

[0011] 3. If a fault occurs during the loading process, the loading can only be terminated forcibly;

[0012] 4. The loading robot adopts three different procedures for horizontal placement, vertical placement and package pressing;

[0013] 5. The calibration values ​​of the palletizing programs corresponding to different lanes are inconsistent and cannot be used universally;

[0014] 6. The loading robot’s palletizing program malfunctioned, making it difficult for on-site personnel to maintain it and unable to quickly handle and troubleshoot the problem. Summary of the invention

[0015] The present invention provides an intelligent loading method for bagged materials based on a spatial rectangular coordinate system, the purpose of which is to adopt a unified coordinate system in the loading and stacking process, so as to simplify the loading control procedure and improve the loading efficiency.

[0016] In order to achieve the above object, the technical solution adopted by the present invention is:

[0017] The present invention discloses an intelligent loading method for bagged materials based on a spatial rectangular coordinate system, wherein the spatial rectangular coordinate is an XYZ coordinate system, wherein X is the direction from the rear of the vehicle to the front of the vehicle, Y is the lateral direction of the vehicle compartment, and Z is the upward direction of the vehicle compartment plate; the loading vehicle loads the material in a material loading lane, and the material loading lane is parallel to the ground track of the loading robot; the loading vehicle enters the material loading lane, and the loading control system detects the data of the loading vehicle, and sends the parameters of the detected loading vehicle to the palletizing software of the loading control system, and the palletizing software imports the input data into the XYZ coordinate system and calculates the coordinate parameters to determine the stacking type and the number of stacking layers.

[0018] The parameters of the loading vehicle include vehicle tonnage, carriage length, carriage width, height of front and rear rails, height of left and right rails, head height, chassis height, Y value of the distance between the front and rear of the carriage and the robot running track, and X value of the rear of the carriage from the origin.

[0019] The loading control system selects the best stacking type for loading the vehicle according to the width and height of the vehicle compartment and reads the configuration file to confirm whether to place the packages in a single layer or a double layer;

[0020] The stacking type and number of stacking layers are determined according to the following table:

[0021]

[0022] When the horizontal stacking type is adopted, the loading control system determines the maximum number of columns in the X-axis direction, the maximum number of bagged materials in the carriage, and the number of layers required to stack all bagged materials in the Z-axis direction according to the length of the carriage and the width of the bagged materials.

[0023] When the horizontal + vertical stacking type is adopted, the loading control system needs to confirm the number of vertical stacking according to the length of the carriage.

[0024] When the horizontal placement + packing type is used, the loading control system needs to confirm the number of packing presses according to the maximum number of columns in the X-axis direction, and only press the packs on the last layer to prevent packs from being dropped.

[0025] The loading control system determines the parking deflection angle θ of the carriage according to the distance Y between the front and rear of the carriage and the robot running track:

[0026] θ = arctan(Ys1-Ys2) / L;

[0027] in:

[0028] Ys1—the distance between the head of the carriage and the ground rail;

[0029] Ys2—the distance between the rear of the carriage and the ground rail;

[0030] L—carriage length;

[0031] The parking deflection angle θ is used to correct the rotation angle of the gripper of the loading robot when placing bagged materials into the carriage, so as to ensure the flatness of the bagged materials inside the carriage.

[0032] The loading control system confirms the X value, Y value, Z value of the bag placing point, the gripper rotation angle θ and the position L value of the external axis of the bagged material; the bag placing point parameters are:

[0033] X value = 2 / X1 + Xs;

[0034] Y value = 2 / W + Ys1;

[0035] Z value = H + Hd + NZ1 + h1;

[0036] L value = L / X1 + Xs;

[0037] in:

[0038] The Z value is the data when double-layer stacking is used;

[0039] X value—X coordinate value of the bag placement point; Y value—Y coordinate value of the bag placement point; Z value—Z coordinate value of the bag placement point; L value—travel value of the external axis of the bag placement point; θ—rotation angle of the gripper at the bag placement point;

[0040] L—carriage length; W—carriage width; H—carriage height; Hd—carriage bottom height;

[0041] X1—bag material length; Y1—bag material width; Z1—bag material height;

[0042] Xs—the distance between the tailgate plate of the carriage and the origin; Ys1—the distance between the head of the carriage and the ground rail; L / X1—the distance traveled by the external axis of the loading robot each time;

[0043] N—the number of layers of current palletizing;

[0044] The reserved height of the fixture is h1.

[0045] Determination of the parameters for placing the package:

[0046] 1. When stacking from the rear to the front of the vehicle, inside the sidewall, in the positive direction;

[0047] Because the first bag placement point is close to the rear door panel of the carriage, the bag placement height Z value is the height of the rear railing of the carriage plus the height reserved for the robot fixture to prevent the loading robot fixture from colliding; among them, Hw is the height of the rear of the carriage, and the Z value changes to Hd+Hw+h1; the second bag placement point only needs to increase the X value and L value, and according to the current number of stacking layers, the Z value changes to Hd+NZ1+h1; and so on;

[0048] When it reaches the last row near the front of the car, the Z value of the bag placement height needs to be changed to the height of the head of the car plus the height reserved by the robot fixture, and the Z value changes to Ht+Hd+h1; where Ht is the height of the head of the car;

[0049] 2. When stacking from the front to the rear of the vehicle, inside the sidewall, negative direction:

[0050] The bag placement position of the first column is the same as the bag placement position of the last column in the positive direction. Starting from the second column, the X value and L value begin to decrease, and the Z value changes to the height of the bottom of the vehicle plus the height of the corresponding number of layers of bagged materials. The Z value is Hd+NZ1+h1;

[0051] When it reaches the last row near the rear of the car, the Z value of the bag placement height needs to be changed to the height of the tailgate of the car plus the height reserved for the robot fixture, and the Z value changes to Hd+Hw+h1;

[0052] 3. When stacking from the rear to the front of the vehicle, beyond the railing, the positive direction:

[0053] The Z value of the bag placement height is the height of the vehicle bottom plus the height of the bagged materials in the current stacking layer, and the Z value is Hd+NZ1+h1;

[0054] When it reaches the last row near the front of the train, the Z value of the bag placement height needs to be changed to the height of the head of the carriage plus the height of the bottom of the carriage, and the Z value changes to Ht+Hd+h1; where Ht is the height of the head of the carriage;

[0055] 4. When stacking from the front to the rear of the vehicle, beyond the railing, negative direction:

[0056] The bag placement position of the first column is the same as the bag placement position of the last column in the positive direction. Starting from the second column, the X value and L value begin to decrease. The bag placement height Z value is the height of the vehicle bottom plus the height of the bagged materials in the current stacking layer. The Z value is Hd+NZ1+h1.

[0057] After the stack type calculation is completed, the loading control system inputs the X value, Y value, Z value, θ, and L of each bag placement position into the corresponding DB (data block) block in the PLC in sequence;

[0058] The PLC sends each bag placement position to the loading robot in sequence, and the loading robot places the bag according to the XYZ coordinate system;

[0059] After each loading robot places an object, the PLC sends the coordinates of the next location until the loading is completed.

[0060] The present invention adopts the above technical scheme and a unified coordinate system. It only needs to calculate and run according to the XYZ coordinates. The loading and stacking program is simpler and no complicated calculation processing is required. The stacking type can be switched at will according to the situation of the carriage. There is no need to consider the stacking program of the loading robot, which effectively saves the time for debugging and troubleshooting, greatly reduces the debugging work of the loading robot, reduces the debugging workload by 90%, and improves the loading efficiency. When a loading failure occurs in a lane, other lanes can be used to continue loading. After the stacking type calculation is completed, it is only necessary to input the XYZ coordinate value of the step where the last failure occurred to continue loading. The parking position of the loading vehicle does not require human intervention, which effectively reduces the human workload. It has strong versatility and is applicable to various stacking types. It can realize intermittent and multiple loading of bagged materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The contents shown in the attached drawings and the symbols in the drawings are briefly described as follows:

[0062] Figure 1 This is a schematic diagram of different stacking types used when loading bagged materials onto trucks;

[0063] Figure 2 It is a schematic diagram of the three-dimensional structure of the loading robot in the present invention;

[0064] Figure 3 for Figure 2 A schematic diagram of the front structure of the loading robot;

[0065] Figure 4 This is a schematic diagram of a horizontal stacking type of the present invention;

[0066] Figure 5 This is a schematic diagram of the horizontal + vertical stacking type of the present invention;

[0067] Figure 6 This is a schematic diagram of the horizontal placement + pressing stacking type of the present invention;

[0068] Figure 7 It is a schematic diagram of the angle formed between the loading vehicle and the ground rail of the present invention;

[0069] Figure 8 It is a schematic diagram of the X value, Y value, Z value and L value of the bag placement point of the present invention.

[0070] The markings in the figure are:

[0071] 1. Loading vehicle, 2. Bag materials, 3. Robot running track, 4. Loading robot, 5. Material loading lane. DETAILED DESCRIPTION

[0072] The specific implementation modes of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0073] like Figure 4-Figure 8 The technical solution of the present invention is an intelligent loading method for bagged materials based on a spatial rectangular coordinate system, wherein the spatial rectangular coordinate is an XYZ coordinate system, wherein X is the direction from the rear of the vehicle to the front of the vehicle, Y is the lateral direction of the vehicle, and Z is the direction of the vehicle board upward; the loading vehicle 1 is loaded on the material loading lane 5, and the material loading lane 5 is parallel to the loading robot running track 3.

[0074] The bagged materials 2 are loaded and stacked by a loading robot 4;

[0075] In order to solve the problems existing in the prior art and overcome its defects, realize the use of a unified coordinate system in the loading and stacking process, make the loading control program simpler, and improve the loading efficiency, the technical solution adopted by the present invention is:

[0076] like Figure 7 , Figure 8 As shown, in the intelligent loading method for bagged materials based on a spatial rectangular coordinate system of the present invention, the loading vehicle 1 enters the material loading lane 5, the loading control system detects the data of the loading vehicle 1, and sends the detected parameters of the loading vehicle 1 to the stacking software of the loading control system, and the stacking software imports the input data into the XYZ coordinate system and calculates the coordinate parameters to determine the stacking type and the number of stacking layers.

[0077] The present invention proposes an intelligent palletizing method and concept for bagged materials based on an XYZ coordinate system, which greatly simplifies the palletizing procedure of a loading robot, has strong versatility, and is applicable to various types of pallets; and can realize multiple loading of bagged materials 2.

[0078] The parameters of the loading vehicle 1 include vehicle tonnage, carriage length, carriage width, height of front and rear rails, height of left and right rails, head height, chassis height, Y value of the distance between the front and rear of the carriage and the robot running track 3, and X value of the rear of the carriage from the origin.

[0079] The loading control system selects the best stack type for loading the vehicle 1 according to the width and height of the vehicle compartment and reads the configuration file to confirm whether to place the packages in a single layer or in a double layer;

[0080] The stacking type and number of stacking layers are determined according to the following table:

[0081] Table of the relationship between carriage size, stack type and number of stacking layers

[0082]

[0083] The single-layer bag placement refers to stacking one layer at a time; the double-layer bag placement refers to stacking two layers at a time.

[0084] Specific stack type:

[0085] 1. Horizontal stacking type, such as Figure 4 As shown:

[0086] When the horizontal stacking type is adopted, the loading control system determines the maximum number of columns in the X-axis direction, the maximum number of bagged materials 2 inside the carriage, and the number of layers required to stack all bagged materials 2 in the Z-axis direction according to the length of the carriage and the width of the bagged materials 2.

[0087] 2. Horizontal + vertical stacking type, such as Figure 5 As shown:

[0088] When the horizontal + vertical stacking type is adopted, the loading control system needs to confirm the number of vertical stacking according to the length of the carriage.

[0089] Refer to the above-mentioned "Relationship table between carriage size, stacking type and number of stacking layers". When the horizontal + vertical stacking type is adopted, the number of stacking layers can be 6, 8 or 10 according to different carriage sizes.

[0090] 3. Horizontal placement + pressing package type, such as Figure 6 As shown:

[0091] When the horizontal placement + packing type is used, the loading control system needs to confirm the number of packing presses according to the maximum number of columns in the X-axis direction, and only press the packs on the last layer to prevent packs from being dropped.

[0092] 4. The parking deflection angle θ of the carriage, such as Figure 7 As shown:

[0093] The loading control system determines the parking deflection angle θ of the carriage according to the distance Y between the front and rear of the carriage and the robot running ground rail 3:

[0094] θ = arctan(Ys1-Ys2) / L;

[0095] in:

[0096] Ys1—the distance between the head of the carriage and the ground rail;

[0097] Ys2—the distance between the rear of the carriage and the ground rail;

[0098] L - length of the carriage.

[0099] The parking deflection angle θ is used to correct the rotation angle of the gripper when the loading robot 4 places the bagged material 2 into the carriage, so as to ensure the flatness of the bagged material 2 inside the carriage.

[0100] 4. Confirm the X value, Y value, Z value of the bagging point of bagged material 2, the gripper rotation angle θ, and the position L value of the external axis, such as Figure 8 As shown:

[0101] The loading control system confirms the X value, Y value, Z value, gripper rotation angle θ and external axis position L value of the bagged material 2; the bag placing point parameters are:

[0102] X value = 2 / X1 + Xs;

[0103] Y value = 2 / W + Ys1;

[0104] Z value = H + Hd + NZ1 + h1;

[0105] L value = L / X1 + Xs;

[0106] in:

[0107] The Z value is the data when double-layer stacking is used;

[0108] X value—X coordinate value of the bag placement point; Y value—Y coordinate value of the bag placement point; Z value—Z coordinate value of the bag placement point; L value—travel value of the external axis of the bag placement point; θ—rotation angle of the gripper at the bag placement point;

[0109] L—carriage length; W—carriage width; H—carriage height; Hd—carriage bottom height; Ht—carriage head height;

[0110] X1—bag material length; Y1—bag material width; Z1—bag material height;

[0111] Xs—the distance between the tailgate and the origin; Ys2—the distance between the head of the carriage and the ground rail; Ys1—the distance between the tail of the carriage and the ground rail;

[0112] L / X1—the distance traveled by the 4 external axes of the loading robot each time;

[0113] N—the number of layers of current palletizing;

[0114] The reserved height of the fixture is h1.

[0115] 6. Determination of parameters for other bag placement points other than the first bag placement point:

[0116] 1) When stacking from the rear to the front of the vehicle (inside the sidewall, in the positive direction):

[0117] Because the first bag placement point is close to the rear door panel of the carriage, the bag placement height Z value is the height of the rear railing of the carriage plus the height reserved for the robot fixture to prevent the loading robot 4 fixture from colliding. Among them, Hw is the height of the rear of the carriage, and the Z value changes to Hd+Hw+h1; the second bag placement point only needs to increase the X value and L value. According to the current number of stacking layers, the Z value changes to Hd+NZ1+h1; and so on;

[0118] When it reaches the last row near the front of the car, the Z value of the bag placement height needs to be changed to the height of the head of the car plus the height reserved by the robot fixture, and the Z value changes to Ht+Hd+h1; where Ht is the height of the head of the car;

[0119] 2) When stacking from the front to the rear of the vehicle (inside the sidewall, negative direction):

[0120] The bag placement position of the first column is the same as the bag placement position of the last column in the positive direction. Starting from the second column, the X value and L value begin to decrease, and the Z value changes to the height of the vehicle bottom plus the height of the corresponding number of layers of bagged materials 2. The Z value is Hd+NZ1+h1;

[0121] When it reaches the last row near the rear of the car, the Z value of the bag placement height needs to be changed to the height of the rear railing of the car plus the height reserved for the robot fixture, and the Z value changes to Hd+Hw+h1.

[0122] 3) When stacking from the rear to the front of the vehicle (over the railing, in the positive direction):

[0123] The Z value of the bag placement height is the height of the vehicle bottom plus the height of the bagged material 2 at the current stacking layer, and the Z value is Hd+NZ1+h1;

[0124] When it reaches the last row near the front of the train, the Z value of the bag placement height needs to be changed to the height of the head of the carriage plus the height of the bottom of the carriage, and the Z value changes to Ht+Hd+h1; where Ht is the height of the head of the carriage;

[0125] 4) When stacking from the front to the rear of the vehicle (over the railing, negative direction):

[0126] The bag placement position of the first column is the same as the bag placement position of the last column in the positive direction. Starting from the second column, the X value and L value begin to decrease. The bag placement height Z value is the height of the vehicle bottom plus the height of the bagged materials in the current stacking layer. The Z value is Hd+NZ1+h1.

[0127] 7. Specific operation of loading and stacking:

[0128] After the stack type calculation is completed, the loading control system inputs the X value, Y value, Z value, θ, and L value of each bag placement position into the corresponding DB (data block) block in the PLC in sequence;

[0129] The PLC sends each bag placement position to the loading robot 4 in sequence, and the loading robot 4 places the bag according to the XYZ coordinate system;

[0130] After each placement by the loading robot 4, the PLC sends the coordinates of the next position until the loading is completed.

[0131] In summary, the present invention has achieved the following technical effects:

[0132] 1. Greatly reduce the debugging work of loading robots, reducing the debugging workload by more than 90%;

[0133] 2. The loading robot program is simpler, and no complicated calculations are required. It only needs to place the package according to the XYZ coordinates. It is easier for on-site operators to control, effectively saving time for debugging and troubleshooting.

[0134] 3. The stacking type can be easily switched according to the situation of the carriage, and there is no need to consider the stacking program of the loading robot;

[0135] 4. When a loading failure occurs in a lane, you can continue loading in other lanes. After the stack calculation is completed, you only need to enter the XYZ coordinate value of the step where the last failure occurred, and you can continue loading.

[0136] 5. The parking position of the loading vehicle does not require human intervention, which effectively reduces the manual workload.

[0137] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. An intelligent loading method for bagged materials based on a spatial rectangular coordinate system, wherein the spatial rectangular coordinate system is an XYZ coordinate system, wherein: X is the direction from the rear of the vehicle to the front of the vehicle, Y is the lateral direction of the vehicle, and Z is the direction of the vehicle board facing upward; the loading vehicle (1) is loaded on the material loading lane (5), and the material loading lane (5) is parallel to the ground track (3) on which the loading robot (4) runs; Features: The loading vehicle (1) enters the material loading lane (5), the loading control system detects the data of the loading vehicle (1), and sends the detected parameters of the loading vehicle (1) to the palletizing software of the loading control system, the palletizing software imports the input data into the XYZ coordinate system and calculates the coordinate parameters to determine the stacking type and the number of stacking layers; The parameters of the loading vehicle (1) include vehicle tonnage, vehicle length, vehicle width, height of front and rear sidewalls, height of left and right sidewalls, vehicle head height, vehicle chassis height, Y value of the distance between the front and rear of the vehicle and the robot running track (3), and X value of the rear of the vehicle from the origin; The loading control system selects the best stacking type for the loading vehicle (1) according to the width and height of the vehicle compartment and reads the configuration file to confirm whether to place the packages in a single layer or in a double layer; The stacking type and number of stacking layers are determined according to the following table: The loading control system confirms the X value, Y value, Z value, gripper rotation angle θ and external axis position L value of the bagged material (2); the bag placing point parameters are: X value = X1 / 2 + Xs; Y value = W / 2 + Ys1; Z value = H + Hd + N × Z1 + h1; L value = L / X1 + Xs; in: The Z value is the data when double-layer stacking is used; X value—X coordinate value of the bag placement point; Y value—Y coordinate value of the bag placement point; Z value—Z coordinate value of the bag placement point; L value—travel value of the external axis of the bag placement point; θ—rotation angle of the gripper at the bag placement point; L—carriage length; W—carriage width; H—carriage height; Hd—carriage bottom height; X1—bag material length; Y1—bag material width; Z1—bag material height; Xs—the distance between the tailgate of the carriage and the origin; Ys1—the distance between the head of the carriage and the ground rail; L / X1—the distance traveled by the external axis of the loading robot (4) each time; N—the number of layers of current palletizing; The reserved height of the fixture is h1; Determination of the parameters for placing the package: 1) When stacking from the rear to the front of the vehicle, inside the sidewall, in the positive direction; Because the first bag placement point is close to the rear door panel of the carriage, the bag placement height Z value is the height of the rear railing of the carriage plus the height reserved for the robot fixture to prevent the loading robot (4) from colliding with the fixture; where Hw is the height of the rear of the carriage, and the Z value changes to Hd+Hw+h1; the second bag placement point only needs to increase the X value and L value, and according to the current number of stacking layers, the Z value changes to Hd+N×Z1+h1; and so on; When it reaches the last row near the front of the car, the Z value of the bag placement height needs to be changed to the height of the head of the car plus the height reserved by the robot fixture, and the Z value changes to Ht+Hd+h1; where Ht is the height of the head of the car; 2) When stacking from the front to the rear of the vehicle, inside the sidewall, negative direction: The bag placement position of the first column is the same as the bag placement position of the last column in the positive direction. Starting from the second column, the X value and L value begin to decrease, and the Z value changes to the height of the bottom of the vehicle plus the height of the corresponding number of layers of bagged materials (2). The Z value is Hd+N×Z1+h1; When it reaches the last row near the rear of the car, the Z value of the bag placement height needs to be changed to the height of the tailgate of the car plus the height reserved for the robot fixture, and the Z value changes to Hd+Hw+h1; 3) When stacking from the rear to the front of the vehicle, beyond the railing, the positive direction: The bag placement height Z value is the height of the vehicle bottom plus the height of the bagged material (2) in the current stacking layer, and the Z value is Hd+N×Z1+h1; When it reaches the last row near the front of the train, the Z value of the bag placement height needs to be changed to the height of the head of the carriage plus the height of the bottom of the carriage, and the Z value changes to Ht+Hd+h1; where Ht is the height of the head of the carriage; 4) When stacking from the front to the rear of the vehicle, beyond the railing, negative direction: The bag placement position of the first column is the same as the bag placement position of the last column in the positive direction. Starting from the second column, the X value and L value begin to decrease. The bag placement height Z value is the height of the vehicle bottom plus the height of the bagged material (2) in the current stacking layer. The Z value is Hd+N×Z1+h1.

2. The intelligent loading method for bagged materials based on a spatial rectangular coordinate system according to claim 1 is characterized in that: When the horizontal stacking type is adopted, the loading control system determines the maximum number of columns in the X-axis direction, the maximum number of bagged materials (2) inside the carriage, and the number of layers required to stack all bagged materials (2) in the Z-axis direction according to the length of the carriage and the width of the bagged materials (2).

3. The intelligent loading method for bagged materials based on a spatial rectangular coordinate system according to claim 1 is characterized in that: When the horizontal + vertical stacking type is adopted, the loading control system needs to confirm the number of vertical stacking according to the length of the carriage.

4. The intelligent loading method for bagged materials based on a spatial rectangular coordinate system according to claim 1 is characterized in that: When the horizontal placement + packing type is used, the loading control system needs to confirm the number of packing presses according to the maximum number of columns in the X-axis direction, and only press the packs on the last layer to prevent packs from being dropped.

5. The intelligent loading method for bagged materials based on a spatial rectangular coordinate system according to claim 1 is characterized in that: The loading control system determines the parking deflection angle θ of the carriage according to the distance Y between the front and rear of the carriage and the robot running track (3): θ = arctan(Ys1-Ys2) / L; in: Ys1—the distance between the head of the carriage and the ground rail; Ys2—the distance between the rear of the carriage and the ground rail; L—carriage length; The parking deflection angle θ is used to correct the rotation angle of the gripper when the loading robot (4) places the bagged material (2) into the carriage, thereby ensuring the flatness of the bagged material (2) inside the carriage.

6. The intelligent loading method for bagged materials based on a spatial rectangular coordinate system according to claim 1 is characterized in that: After the stack type calculation is completed, the loading control system inputs the X value, Y value, Z value, θ, and L value of each bag placement position into the corresponding DB block in the PLC in sequence; The PLC sends each bag placement position to the loading robot (4) in sequence, and the loading robot (4) places the bag in an XYZ coordinate system; After each placement by the loading robot (4), the PLC sends the coordinates of the next position until the loading is completed.

Images