Intelligent container loading control method and system and storage medium

Abstract

The invention provides an intelligent cargo box loading control method, which comprises the following steps of: classifying cargo boxes in a current order by sizes, and sequencing and numbering the cargo boxes according to a delivery quantity; according to the truck bed size and the cargo box size, calculating the whole-row cargo stacking parameters of each cargo box according to a gap filling optimization dynamic planning algorithm; according to the sizes of various containers in the current order, calculating a mixed code corresponding table of the containers with mixed codes; the mixed code corresponding table is looked up, whether the cargo box A with the serial number being 1 can be mixed with other cargo boxes or not is judged, and if not, the cargo box A is stacked in one row again; if yes, finding a container B which corresponds to the container A with the number of 1 and can be mixed in code and has the first sequence number, selecting the containers of the type for mixing in code, and calculating the number of mixed-code containers of the last layer; modifying the mixed code corresponding table; and step 6, according to the numbering sequence in the step 1, and so on, finishing the goods stacking planning of all types of containers in the current order. According to the invention, the automation level, the operation efficiency and the operation stability of container loading operation are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the field of automation control technology, and specifically relates to an intelligent cargo box loading control method, system and storage medium. Background Art

[0002] With the growing prosperity of industries such as e-commerce, the development of logistics industry equipment is changing with each passing day, and various automated and intelligent warehousing, loading, transportation and stacking equipment are constantly emerging; relatively speaking, loading containers is a key link in warehousing logistics. Due to the wide variety of specifications and sizes of containers and trucks, in order to ensure loading efficiency and container volume utilization, container loading operations in large warehouses are currently still mainly manual, requiring a large amount of human resources, with high work intensity, low operating efficiency and great management difficulty. Therefore, the development of an intelligent and automated loading equipment and system has broad market prospects.

[0003] At present, most of the automatic loading and unloading systems on the market can only realize the automatic loading of boxes of a single size in the same box. When mixed loading is required, it is often necessary to manually stop the equipment, adjust the equipment parameters or status, and then start the operation. It is impossible to realize automatic mixed loading of cargo boxes, which affects the loading efficiency. In addition, the depalletizing system, conveying system and loading system cannot be operated in conjunction, and the full automatic operation of the entire loading operation cannot be realized. The various subsystems cannot cooperate with each other. When one of the subsystems does not match the rhythm of the upstream and downstream equipment, other systems can only be manually operated to make adjustments, and one-button start or stop control of the entire loading operation cannot be achieved.

[0004] When users ship goods, one order often includes dozens of cartons of different sizes, and the shipping quantities of various cartons vary greatly. Some cartons need to ship hundreds or even thousands of cartons, while some cartons may only ship dozens of cartons. Therefore, only simple or fixed shipping planning and loading control methods cannot meet the requirements of such shipping orders; if only fixed methods are used for planning and loading operations, there will inevitably be large gaps between the final stacked cargo boxes and the vehicle boxes in terms of height and horizontal directions, which not only increases the transportation cost, but also fails to meet the requirements for safe transportation and cannot achieve the goal of automatic loading operations. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent and automated cargo box loading operation process control method, which adopts a multi-constraint dynamic programming algorithm based on network communication and automated control technology to realize the gap filling optimization function of cargo stacking operation, and automatically sets cargo stacking operation parameters through a mixed code planning algorithm to adapt to cargo and truck boxes of different sizes and delivery quantities, so as to realize fully automatic mixed loading operations of different types of cargo boxes and trucks.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] An intelligent cargo box loading control method includes the following steps:

[0008] Step 1. Classify the cargo boxes in the current order by size, sort them according to the shipping quantity, and number them;

[0009] Step 2. According to the carriage size and the cargo box size, calculate the full-row cargo stacking parameters of each cargo box according to the seam-optimized dynamic programming algorithm;

[0010] Step 3. According to the sizes of various cargo boxes in the current order, calculate the mixed-coding correspondence table of the mixable cargo boxes;

[0011] Step 4. Check the mixed-coding correspondence table to determine whether the cargo box A numbered 1 can be mixed-coded with other cargo boxes. If not, control the loading mechanism to retreat and re-stack a row; the new row starts the cargo stacking plan from the cargo box type that has not been shipped and has the second-largest shipping quantity;

[0012] Step 5. If the cargo box A numbered 1 can be mixed-coded with other cargo boxes, find the cargo box B that can be mixed-coded with the cargo box A numbered 1 and has the first sorting number, and calculate the number of mixed-coded boxes in its last layer; and modify the mixed-coding correspondence table to remove the cargo box B from the types of cargo boxes that can be stacked with other cargo boxes;

[0013] Step 6. By analogy in the order of numbering in Step 1 until the cargo stacking plan for all types of cargo boxes in the current order is completed;

[0014] Step 7. Connect the unpacking mechanism, the conveying mechanism, and the loading mechanism in communication, and perform cargo stacking based on the cargo stacking plan in Step 6.

[0015] Further, the seam-optimized dynamic programming algorithm in Step 2 includes:

[0016] Divide the cargo stacking of a row of goods into 3 parts according to the stacking height, which are the first part, the second part, and the third part from bottom to top in sequence;

[0017] For the first part, use the horizontal and vertical mixed coding method of a single type of cargo box. First, complete the horizontal coding. For each layer, enter several cargo boxes horizontally, but do not fill them up, then push them out and align them, and stack all the horizontally coded cargo boxes against the left side, leaving space on the right side for other coding methods; after stacking to a certain number of layers, then perform vertical coding, that is, stand the cargo boxes up and send them into the horizontal rollers for stacking, and stack them all against the right side, allocate the proportion of each layer for horizontal and vertical coding, and make the number of stacking layers and the height reach a suitable common multiple;

[0018] The second part can use all-horizontal coding of a single type of cargo box;

[0019] The third part is the top caulking part. If the height gap cannot meet the requirements when stacking the current type of cargo boxes to the highest layer, stack the cargo boxes with smaller sizes that can meet the height gap requirements, and multiple layers can be stacked until the highest layer is reached.

[0020] Furthermore, the stacking height of the first part exceeds 70% of the height of the entire row, and the stacking height of the second part does not exceed 30% of the height of the entire row.

[0021] Furthermore, for the ratio of horizontally and vertically stacked cargo boxes in the first area, the height and the combination method of cargo boxes in the second and third parts, the dynamic programming method is used. With the width and height of the carriage, and the gaps in the horizontal and height directions of the stacked cargo pile as constraints, and the maximum number of cargo boxes stacked in each row, that is, the maximum volume ratio, as the goal, optimization calculations are carried out to obtain the best stacking plan.

[0022] Furthermore, in step 3, the mixed code correspondence table is calculated based on the mixed loading operation planning algorithm.

[0023] Furthermore, the mixed loading operation planning algorithm includes:

[0024] Stack the cargo boxes in the way of full-row stacking plus mixed stacking. For the types with large shipment quantities, full-row stacking is preferred first. After full-row and full-layer stacking, the remaining space is mixed with other cargo boxes with similar sizes.

[0025] Stack the cargo boxes in the order of the cargo box numbers sorted according to the shipment quantity in turn; the mixed stacking includes in-layer mixed stacking and in-row mixed stacking.

[0026] Furthermore, in step 7, the data of the loaded cargo boxes and the truck size can be first obtained by the unstacking and stacking mechanism and then sent to the loading mechanism, or can be first obtained by the loading mechanism and then sent to the unstacking and stacking mechanism.

[0027] Furthermore, the unstacking and stacking mechanism and the loading mechanism are controlled in a linked manner.

[0028] On the other hand, the present invention provides an intelligent cargo box loading control system, including:

[0029] A cargo box classification module, which is used to classify the cargo boxes in the current order by size, sort them according to the shipment quantity, and number them;

[0030] A full-row stacking parameter calculation module, which is used to calculate the full-row stacking parameters of each type of cargo box according to the carriage size and the cargo box size according to the caulking optimization dynamic programming algorithm, and further calculate the number of rows that various sizes of cargo boxes in the current order can be stacked;

[0031] A mixed code correspondence table calculation module, which is used to calculate the mixed code correspondence table of the mixable cargo boxes according to the sizes of various cargo boxes in the current order;

[0032] The mixed code judgment module is used to consult the mixed code correspondence table to judge whether the container A numbered 1 can be mixed coded with other containers. If not, it controls the loading mechanism to retreat and re-stack a row. The new row starts the cargo stacking plan from the type of container that has not been shipped and has the second largest shipment volume.

[0033] The mixed code correspondence table modification module is used to, when the container A numbered 1 can be mixed coded with other containers, find the container B with the first sorting number that can be mixed coded with the container A numbered 1, select this type of container for mixed coding, and calculate the number of mixed code containers in the last layer; and modify the mixed code correspondence table to remove the container B from the types of containers where other containers can stack goods.

[0034] The cargo stacking plan module is used to continue in this way according to the number sequence until the cargo stacking plan for all types of containers in the current order is completed.

[0035] The linkage module is used to communicatively connect the unpacking and stacking mechanism, the conveying mechanism, and the loading mechanism, and stack goods based on the cargo stacking plan in step 6.

[0036] On the other hand, the present invention provides a storage medium for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the method.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] (1) The present invention realizes the full-automatic operation control of container loading, and can automatically plan the cargo stacking operation parameters and equipment parameters through the mixed code planning algorithm and the seam filling optimization algorithm to realize the mixed loading operation of containers and trucks with different sizes, different shipment quantities, and ensure the volume ratio, greatly improving the automation and intelligence level of the loading operation.

[0039] (2) The present invention can effectively improve the efficiency, accuracy, and reliability of the loading operation, replace and save a large amount of manpower, reduce the enterprise's loading and unloading costs, and achieve the loading volume ratio, ensuring the safety and reliability during transportation, and truly realizing the automatic operation of cargo stacking.

[0040] (3) The system of the present invention is located in the upper control system of the loading system, and can be adapted to different mechanical and action types of unpacking, conveying, and loading subsystems on the market, with strong compatibility and versatility, facilitating market promotion and wide application. Description of the Drawings

[0041] To more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 is the flowchart of the mixed loading operation planning algorithm in the embodiment of the present invention;

[0043] Figure 2 is the communication protocol of the intelligent cargo box loading system in the embodiment of the present invention;

[0044] Figure 3 is the network structure diagram of the intelligent loading system in the embodiment of the present invention;

[0045] Figure 4 is the linkage control flowchart of the unpacking and loading system in the embodiment of the present invention. Specific Embodiments

[0046] To make the above objects, features, and advantages of the present application more obvious and understandable, the following detailed description of the specific embodiments of the present application will be made in conjunction with the drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0047] Embodiment 1

[0048] As Figure 1 shown, an intelligent cargo box loading control method includes the following steps:

[0049] Step 1. Classify the cargo boxes in the current order by size, sort them according to the shipment quantity, and number them;

[0050] Step 2. According to the carriage size and the cargo box size, calculate the whole row cargo stacking parameters of each cargo box according to the seam-optimized dynamic programming algorithm;

[0051] Step 3. According to the sizes of various cargo boxes in the current order, calculate the mixed coding correspondence table of the mixable cargo boxes;

[0052] Step 4. Check the mixed coding correspondence table to determine whether the cargo box A numbered 1 can be mixed with other cargo boxes. If not, control the loading mechanism to retreat and re-stack a row; The new row starts the cargo stacking planning from the cargo box type that has not been shipped and has the second largest shipment quantity;

[0053] Step 5. If the container A numbered 1 can be mixed-coded with other containers, find the container B with the first sorting number that can be mixed-coded with the container A numbered 1, and calculate the number of mixed-coded containers in its last layer; and modify the mixed-coding correspondence table to remove the container B from the types of goods that can be stacked by other containers.

[0054] Step 6. By analogy in the numbering order in Step 1 until the stacking plan for all types of containers in the current order is completed.

[0055] Step 7. Connect the unstacking mechanism, conveying mechanism, and loading mechanism for communication, and stack goods based on the stacking plan in Step 6.

[0056] In this embodiment, the seam-filling optimization dynamic programming algorithm in Step 2 includes:

[0057] The first part is usually the base, which must be stacked as tightly as possible. A mixed method of using the first type of container (or single-type containers stacked horizontally) and the second type of container (or single-type containers stacked vertically) can be adopted, and the stacking of these methods is completed successively. For example, first complete the horizontal stacking (taking single-type containers as an example). For each layer, a certain number of containers are fed in horizontally, but not filled up, then pushed out and aligned. All horizontally stacked containers are stacked against the left side, leaving space on the right side for other stacking methods. After stacking to a certain number of layers, then perform vertical stacking, that is, stand the containers up and send them into the horizontal rollers for stacking, and all are stacked against the right side. Reasonably allocate the proportion of each layer for horizontal and vertical stacking, and the number of stacking layers and height should reach a suitable common multiple, so as to stack this part as tightly and neatly as possible, and the stacking height in this area should exceed 70% of the entire row height to ensure the stacking stability; the calculation of the number of layers is based on the horizontal stacking height.

[0058] The second part can adopt all-horizontal stacking (or only use the first type of container, or only use the second type of container). The stacking height should not exceed 30% of the entire row height. The tightness can be slightly lower than that of the first part, but the number of layers cannot be too many. If the stacking density meets the requirements, and this part can also be directly stacked to the top of the carriage.

[0059] The third part is the top seam-filling part. If when stacking to the highest layer according to the current type of container, the height gap cannot meet the requirements, then stack containers with smaller sizes that can meet the height gap requirements, and multiple layers can be stacked until the highest layer is reached; the number of layers in this part can also be 0, that is, this part can be not stacked.

[0060] For the ratio of horizontally and vertically stacked containers in the first area, the height and container combination methods of the second and third parts, the dynamic programming method can be adopted, with the width and height of the carriage, as well as the horizontal and vertical gaps of the stacked goods pile as constraints, and the maximum number of stacked containers per row (i.e., the maximum volume ratio) as the goal, and perform optimization calculations to obtain the best stacking plan.

[0061] For the horizontal and vertical code container ratios in the first area, the heights of the second and third parts, and the container combination method, the dynamic programming method is used. With the width and height of the carriage, as well as the gaps in the horizontal and height directions of the stacked goods, as the constraint conditions, and with the maximum number of stacked containers per row, that is, the maximum volume ratio, as the goal, an optimization calculation is carried out to obtain the best stacking plan.

[0062] The dynamic programming model for the stacking plan is as follows:

[0063] Let the length of the carriage be CX_L0, the width be CX_W0, the height be CX_H0, the total number of containers stacked in a row be ZP_XS0, the total height of the containers stacked in a row be ZP_H0, the limit value of the horizontal gap be LIM_SP1 (within the first area), LIM_SP2 (above the first area), the limit value of the height gap be LIM_GD, the total number of the first type of goods in the shipping order be FH_XS0, the total number of the second type of goods be FH_XS1, and the total number of the third type of goods be FH_XS2 (taking 3 types as an example, actually not limited to 3 types);

[0064] Let u s be the control decision at the s-th stage (which can take values of 0, 1, 2, and is separately decision-controlled according to the combination of the types of containers stacked in each layer);

[0065] Let within the first area:

[0066] The number of the first type of stacked containers per layer is MC_XS 1 1 (i.e., the number of horizontal codes), the number of the second type of containers is MC_XS 2 1 (i.e., the number of vertical codes), the maximum number of the first type of containers is HM_XS max , the maximum number of the second type of containers is SM_XS max , the number of layers of the first type of goods stacked is C H1 , the number of layers of the second type of goods stacked is C S1 , the length of the first type of container in this area is HX_L 1 1, the width is HX_W 1 1, the height is HX_H 1 1, the length of the second type of container is HX_L 2 , the width is HX_W 2 1, the height is HX_H 2 1, the total horizontal width is ∑W1, the total height of the stacked goods in this area is ∑H1, the total height of the stacked goods in this area is ∑H1, the horizontal gap is FX_SP1, the total number of containers in this area is XS1, the total number of the first type of containers stacked is MH_XS 1 0, the total number of the second type of containers stacked is MH_XS 1 1;

[0067] MH_XS1 0 = MC_XS 1 1 * C H1

[0068] MH_XS 1 1 = MC_XS 2 1 * C S1

[0069] XS1 = MC_XS 1 1 * C H1 +MC_XS 2 1 * C S1

[0070] ∑W1 = MC_XS 1 1 * HX_W 1 1 + MC_XS 2 1 * HX_W 2 1

[0071] FX_SP1 = CX_W0 - ∑W1 = CX_W0 -

[0072] (MC_XS 1 1 * HX_W 1 1 + MC_XS 2 1 * HX_W 2 1)

[0073] ∑H1 = MAX(C H1 * HX_H 1 1, C S1 * HX_H 2 1)

[0074] The constraint condition YS_TJ1 in the first area is:

[0075] Simultaneously satisfy:

[0076] FX_SP1 <= LIM_SP1

[0077] |HX_L 1 1 - HX_L 2 1| <= HX_L 1 1 * 5%

[0078] |HX_H 1 1 - HX_H 2 1| <= HX_H 1 1 * 5%

[0079] |HX_W 1 1 - HX_W 2 1| <= HX_W 1 1 * 5%

[0080] ∑H1 <= CX_H0 * 70%

[0081] MC_XS 1 1 <= MC_XS max

[0082] MC_XS 2 1 <= SM_XS max

[0083] In the second area:

[0084] The number of the first type of stacked crates per layer is MC_XS 1 2, and the number of the second type of crates is MC_XS 2 2, the maximum number of horizontally stacked crates is HM_XS max 2, the maximum number of vertically stacked crates is SM_XS max 2, the number of layers of the first type of stacked crates is C H1 , and the number of layers of the second type of stacked crates is C S1 , the length of the crates in this area is HX_L2, the width is HX_W2, the height is HX_H2, the total width in the horizontal direction is ∑W2, the total height of the stacked crates in this area is ∑H2, the gap in the horizontal direction is FX_SP2, the total number of crates in this area is XS2, and the total number of the first type of stacked crates is MH_XS 2 0;

[0085] MH_XS 2 0 = MC_XS2 * C2

[0086] XS2 = MC_XS2 * C2 + XS1

[0087] ∑W2 = MC_XS2 * HX_W2

[0088] FX_SP2 = CX_W0 - ∑W2 = MC_XS2 * HX_W2

[0089] ∑H2 = HX_H2 * C2

[0090] The constraint condition YS_TJ2 in the second area is:

[0091] FX_SP2 <= LIM_SP2

[0092] In the third area:

[0093] The number of horizontally stacked crates per layer is MC_XS3, the number of stacked layers is C3, the length of the crates in this area is HX_L3, the width is HX_W3, the height is HX_H3, the total width in the horizontal direction is ∑W3, the total height of the stacked crates in this area is ∑H3, the gap in the horizontal direction is FX_SP3, the gap in the height direction is FX_GD3, and the total number of crates in this area is XS3;

[0094] XS3 = MC_XS3 * C2

[0095] ∑W3 = MC_XS3 * HX_W3

[0096] FX_SP3 = CX_W0 - ∑W3 = MC_XS3 * HX_W3

[0097] ∑H3 = HX_H3 * C3

[0098] ZP_H0 = ∑H1 + ∑H2 + ∑H3

[0099] FX_GD3 = CX_H0 - ZP_H0 = CX_H0 - (∑H1 + ∑H2 + ∑H3)

[0100] The constraint condition YS_TJ3 in the third area is:

[0101] FX_SP3 <= LIM_SP2

[0102] FX_GD3 <= LIM_GD

[0103] If the first type of cargo box is used in the third area

[0104] MH_XS 1 0 + MC_XS3 * C2 <= FH_XS0

[0105] If the second type of cargo box is used in the third area

[0106] MH_XS 1 1 + MC_XS3 * C2 <= FH_XS1

[0107] If the first type of cargo box is still used in the third area

[0108] MC_XS3 * C2 <= FH_XS2

[0109] Planning calculation process:

[0110] Starting from the first layer in the first area, according to different combinations of horizontal and vertical codes, u 1 1 = 0, MC_XS 1 1 = 0, MC_XS 2 1 = SM_XS max ;

[0111] u 1 1 = 1, MC_XS 1 1 = 1, MC_XS 2 1 = SM_XS max - 1;

[0112] u 1 1 = 2, MC_XS 11 = 2, MC_XS 2 1 = SM_XS max -2;

[0113] u 1 1 = 3, MC_XS 1 1 = 3, MC_XS 2 1 = SM_XS max -3;

[0114] u 1 1 = 4, MC_XS 1 1 = 4, MC_XS 2 1 = SM_XS max -4;

[0115] u 1 1 = 5, MC_XS 1 1 = HM_XS max , MC_XS 2 1 = 0;

[0116] u 1 1 = 6, MC_XS 1 1 = HM_XS max -1, MC_XS 2 1 = 1;

[0117] u 1 1 = 7, MC_XS 1 1 = HM_XS max -2, MC_XS 2 1 = 2;

[0118] u 1 1 = 8, MC_XS 1 1 = HM_XS max -3, MC_XS 2 1 = 3;

[0119] u 1 1 = 9, MC_XS 1 1 = HM_XS max -4, MC_XS 2 1 = 4;

[0120] From the first layer of the first area, the second area can be reached through the above 10 control schemes. Therefore, there are 10 possible values for the number of palletizing boxes in stage s = 1. These 10 state values can be calculated through formula (1) and are denoted as XS 1 1, XS 2 1, XS 3 1, XS 4 1, XS 5 1, XS 6 1, XS7 1. XS 8 1. XS 9 1. XS 10 1. For XS 1 1. Determine whether it satisfies formula YS_TJ1. If it satisfies, record D 1 1 = 0 (using D m s Record the optimal control strategy for reaching state H from the (s - 1) - th stage m s ); Otherwise, it means that state XS 1 1 cannot be achieved.

[0121] Similarly, if XS 2 1. XS 3 1. XS 4 1. XS 5 1. XS 6 1. XS 7 1. XS 8 1. XS 9 1. XS 10 1. If it satisfies YS_TJ1, then save D 2 1 = 1. D 3 1 = 2. D 4 1 = 3. D 5 1 = 4. D 6 2 = 5. D 7 2 = 6. D 8 2 = 7. D 9 2 = 8. D 10 2 = 9.

[0122] Similarly, various combination strategies and the number of stacked containers from the second area to the third area can be calculated.

[0123] For the number of stacked containers XS in the s - th area m s , if XS m s-1 exists, then XS can be obtained from XS m s-1 through the control strategy u s-1 = 0 m s ; If XS m-1 s-1 exists, then XS can be obtained from XS m-1 s-1 through the control strategy u s-1 = 1 m s ; If XS m-2 s-1 exists, then XS can be obtained from XS m-2 s-1By controlling the strategy u s-1 = 2 to obtain XS m s And so on, calculate and compare XS 1 s , XS 2 s , XS 3 s , XS 4 s , XS 5 s , XS 6 s , XS 7 s , XS 8 s , XS 9 s , XS 10 s The maximum value among them is the optimal plan XS 1 from XS m s 1 to XS m s , and the corresponding control strategy is the optimal decision D m s .

[0124] After calculating until the third area, the optimal planning methods for each state from the initial state to the final stage can be obtained (i ∈ {1,..., 2n + 1}). Calculate all the planning paths from the first layer of the first area to the top layer of the third area, and take the maximum value of the number of palletized boxes to get the maximum number of palletized boxes in the whole process. And the optimal control sequence u(k) for the whole process and the palletizing parameters for each area can be deduced reversely.

[0125] In step 3, calculate the mixed code correspondence table based on the mixed loading operation planning algorithm. The mixed loading operation planning algorithm includes:

[0126] Palletize the goods by using the method of full-row palletizing plus mixed palletizing. For the types with large shipment quantities, full-row palletizing is preferred first. After palletizing the full row and the full layer, the remaining space is mixed with other boxes with similar sizes.

[0127] Palletize the boxes in the order of the box numbers sorted by the shipment quantity in turn; the mixed palletizing includes in-layer mixed palletizing and in-row mixed palletizing.

[0128] In step 7, the data of the loading boxes and the truck size can be obtained by the unpacking and palletizing mechanism first and then sent to the loading mechanism, or can be obtained by the loading mechanism first and then sent to the unpacking and palletizing mechanism.

[0129] The unpacking and coding mechanism and the loading mechanism are linked and controlled. An intelligent cargo box loading control method mainly includes a communication protocol, a mixed loading operation planning algorithm, and a linkage control process for the unpacking and coding and loading systems.

[0130] The communication protocol is as Figure 2 shown.

[0131] Using computer network technology, communication connections between each subsystem of the unpacking, conveying, and loading mechanisms are realized. The overall communication structure of the loading system is as Figure 1 shown; the data types and variable quantities of the control and status data that need to be exchanged between each subsystem are planned and designed into a set of standardized communication protocols.

[0132] A typical communication protocol is as Figure 2 .

[0133] Typical communication protocols include the following field names:

[0134] Sender of communication variable, name of communication variable, data type of communication variable, byte length of communication variable, address of communication variable, etc.

[0135] Contents transmitted by typical communication protocols:

[0136] Communication heartbeat signal, status of the unpacking system, start / stop control instruction of the unpacking system, status of the loading mechanism, start / stop instruction of the loading mechanism, current specification and dimension data of the loaded cargo box, current type number of the loaded cargo box, current quantity of the loaded cargo box, current specification and dimension data of the vehicle box, request for updating cargo box loading information, etc.

[0137] The specific content of the communication protocol of the intelligent cargo box loading system in the present invention includes but is not limited to the content in the above typical cases.

[0138] The loading data source can come from the upper-layer warehouse management or scheduling system (such as WMS, loading scheduling system, etc.), handheld intelligent devices, etc., or can also be entered from the HMI of the loading system (such as the operation interface of the unpacking or loading mechanism).

[0139] According to different acquisition paths of the loading data, the specification and dimension data of the loaded cargo box and the vehicle can be first acquired by the unpacking system and then sent to the loading mechanism, or can be first acquired by the loading mechanism and then sent to the unpacking system.

[0140] The specific content of the communication protocol of the intelligent cargo box loading system in the present invention includes but is not limited to the content in the above typical cases.

[0141] As Figure 3 shown, the loading data source can come from the upper-layer warehouse management or scheduling system (such as WMS, loading scheduling system, etc.), handheld intelligent devices, etc., or can also be entered from the HMI of the loading system (such as the operation interface of the unpacking or loading mechanism).

[0142] According to different acquisition paths of loading data, the loading container and truck size data can be first acquired by the decoding and encoding system and then sent to the loading mechanism, or can be first acquired by the loading mechanism and then sent to the decoding and encoding system.

[0143] The linkage control flow of the decoding and encoding and loading systems is as Figure 4 , and the process design is as follows:

[0144] 1. The loading scheduling system or the control system of the loading mechanism, according to the shipping order data, conducts loading operation planning to obtain the loading parameters of various containers for this order;

[0145] 2. After the operator confirms that both the decoding and encoding system and the loading mechanism are ready, select the decoding and encoding system and the loading mechanism to the automatic state on the HMI or the operation cabinet, and click the start button on the HMI or the operation cabinet to start the decoding and encoding and loading operations; during the loading operation, click the stop button on the HMI or the operation cabinet to stop the decoding and encoding and loading operations, and after restoring the stop button, the decoding and encoding and loading operations will automatically resume;

[0146] 3. During the loading operation, the loading mechanism determines whether a side of the container is fully loaded. If a side is fully loaded, it controls the decoding and encoding system to stop the operation, and according to the stacking data obtained by the planning algorithm, the loading mechanism and the conveying equipment retreat, and the retreat displacement reaches the size of the next type of container, and adjusts the width of the stacking mechanism of the loading mechanism to adapt to the stacking size of the next type of container; if a side is not fully loaded, the loading mechanism calculates the current number of stacked layers and the number of containers in real time. If mixed loading is required at this time, the width of the stacking mechanism of the loading mechanism also needs to be adjusted;

[0147] 4. After the loading mechanism completes the adjustment of the loading specification size, start the loading system to resume the operation;

[0148] 5. During the width adjustment process of the loading mechanism, it is necessary to send a flag with the ready state = 0 to the decoding and encoding mechanism to make the decoding and encoding mechanism enter the pause state; after the loading mechanism completes the width adjustment, set the ready state to 1 and send it to the decoding and encoding mechanism, and the decoding and encoding mechanism continues the decoding and encoding operation.

[0149] 6. When the loading quantity reaches the total loading quantity of the current carriage, the decoding and encoding system stops running, and the loading mechanism retreats and exits the carriage, waiting for the arrival of the next carriage to continue loading.

[0150] Embodiment 2

[0151] This embodiment provides 9. An intelligent container loading control system, characterized by including:

[0152] A container classification module, which is used to classify the containers in the current order by size, sort them according to the shipping quantity, and number them;

[0153] The whole-row cargo stowage parameter calculation module is used to calculate the whole-row cargo stowage parameters of each type of cargo box according to the carriage size and the cargo box size by means of the seam-optimized dynamic programming algorithm, and further calculate the number of rows that can be stowed for various sizes of cargo boxes in the current order;

[0154] The mixed stowage correspondence table calculation module is used to calculate the mixed stowage correspondence table of the cargo boxes that can be mixed stowed according to the sizes of various cargo boxes in the current order;

[0155] The mixed stowage judgment module is used to check the mixed stowage correspondence table to judge whether the cargo box A numbered 1 can be mixed stowed with other cargo boxes. If not, it controls the loading mechanism to retreat and re-stow another row; the new row starts the stowage planning from the type of cargo box that has not been shipped and has the second largest shipment volume;

[0156] The mixed stowage correspondence table modification module is used to, when the cargo box A numbered 1 can be mixed stowed with other cargo boxes, find the cargo box B with the first sorting number that can be mixed stowed corresponding to the cargo box A numbered 1, select this type of cargo box for mixed stowage, and calculate the number of mixed stowage boxes in its last layer; and modify the mixed stowage correspondence table to remove the cargo box B from the types of cargo boxes that can be stowed for other cargo boxes;

[0157] The cargo stowage planning module is used to continue in this way according to the number sequence until the cargo stowage planning of all types of cargo boxes in the current order is completed;

[0158] The linkage module is used to communicatively connect the unpacking mechanism, the conveying mechanism and the loading mechanism, and perform cargo stowage based on the cargo stowage planning in step 6 above.

[0159] Embodiment 3

[0160] This embodiment provides a storage medium for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the method.

[0161] As mentioned above, it is only a preferred specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by this application should be covered within the protection scope of this application.

[0162] It should be understood that the parts not elaborated in this specification all belong to the prior art.

[0163] It should be understood that the above description of the preferred embodiment is relatively detailed, and it should not be considered as a limitation on the protection scope of the present invention patent. Under the inspiration of the present invention, those of ordinary skill in the art can also make substitutions or deformations without departing from the scope protected by the claims of the present invention, and all fall within the protection scope of the present invention. The scope of protection claimed by the present invention shall be subject to the appended claims.

Claims

1. An intelligent cargo box loading control method, characterized in that, It includes the following steps: Step 1. Classify the containers in the current order by size, sort them according to the shipping quantity, and number them; Step 2. According to the carriage size and the container size, calculate the full-row cargo stowage parameters of each type of container according to the seam-optimized dynamic programming algorithm; Step 3. According to the sizes of various containers in the current order, calculate the mixed-coding correspondence table of the containers that can be mixed-coded; Step 4. Consult the mixed-coding correspondence table to determine whether the container numbered 1 can be mixed-coded with other containers. If not, control the loading mechanism to retreat and re-stow a row; the new row starts the cargo stowage planning from the type of container that has not been shipped and has the second largest shipping quantity; Step 5. If the container numbered 1 can be mixed-coded with other containers, find the container B with the first sorting number that can be mixed-coded with the container numbered 1, and calculate the number of mixed-coded containers in its last layer; and modify the mixed-coding correspondence table to remove container B from the types of containers that can be stowed with other containers; Step 6. By analogy in the order of container numbers until the cargo stowage planning of all types of containers in the current order is completed; Step 7. Connect the unpacking mechanism, the conveying mechanism, and the loading mechanism for communication, and perform cargo stowage based on the cargo stowage planning in Step 6; 2. The intelligent cargo box loading control method according to claim 1, wherein The seam-optimized dynamic programming algorithm in Step 2 includes: The cargo stowage of a row of goods is divided into three parts according to the stowage height, which are the first part, the second part, and the third part from bottom to top in sequence; In the first part, a single type of container is mixed-coded horizontally and vertically. First, complete the horizontal stowage. For each layer, several containers are loaded horizontally, but not filled up, and then pushed out and aligned. All horizontally stowed containers are stowed on the left side, leaving space on the right side for other stowage methods; after stowing to a certain number of layers, then perform vertical stowage, that is, stand the containers up and send them into the horizontal rollers for stowage, and all are stowed on the right side. Allocate the proportion of each layer for horizontal and vertical stowage, and the number of stowage layers and height reach a suitable least common multiple; In the second part, a single type of container can be all horizontally stowed; The third part is the top seam-filling part. If the height gap cannot meet the requirements when stowing to the highest layer according to the current type of container, stow containers with smaller sizes that can meet the height gap requirements, and multiple layers can be used until the highest layer is reached.

3. The intelligent cargo box loading control method according to claim 2, wherein The stowage height of the first part exceeds 70% of the full-row height, and the stowage height of the second part does not exceed 30% of the full-row height.

4. The intelligent cargo box loading control method according to claim 2, characterized in that For the horizontal and vertical stowage container ratio in the first area, the height and container combination methods in the second and third parts, the dynamic programming method is used, with the width and height of the carriage, and the gaps in the horizontal and height directions of the cargo stowage stack as the constraint conditions, and the maximum number of stowed containers per row, that is, the maximum volume ratio, as the goal, to perform optimization calculations to obtain the best cargo stowage planning scheme.

5. The intelligent cargo box loading control method according to claim 1, characterized in that In Step 3, the mixed-coding correspondence table is calculated based on the mixed loading operation planning algorithm.

6. The intelligent cargo box loading control method according to claim 5, wherein, The mixed loading operation planning algorithm includes: The stowage is carried out in the way of full-row stowage plus mixed stowage. The types with large shipping quantities are preferably stowed in full rows. After stowing in full rows and full layers, the remaining space is mixed-coded with other containers with similar sizes; Stack the cargo boxes in the order of the box numbers sorted by the shipment quantity in sequence; mixed stacking includes in-layer mixed stacking and in-row mixed stacking within a single layer.

7. The intelligent cargo box loading control method according to claim 1, characterized in that In step 7, the data of the loaded cargo boxes and the truck size can be first obtained by the unpacking and stacking mechanism and then sent to the loading mechanism, or can be first obtained by the loading mechanism and then sent to the unpacking and stacking mechanism.

8. The intelligent cargo box loading control method according to claim 7, wherein The unpacking and stacking mechanism and the loading mechanism are controlled in a linked manner.

9. An intelligent cargo box loading control system, characterized in that, It includes: A cargo box classification module, which is used to classify the cargo boxes in the current order by size, sort them by the shipment quantity, and number them; A whole-row stacking parameter calculation module, which is used to calculate the whole-row stacking parameters of each type of cargo box according to the truck size and the cargo box size by using the seam-optimized dynamic programming algorithm, and further calculate the number of rows that various sizes of cargo boxes in the current order can be stacked; A mixed stacking correspondence table calculation module, which is used to calculate the mixed stacking correspondence table of the cargo boxes that can be mixed stacked according to the sizes of various cargo boxes in the current order; A mixed stacking judgment module, which is used to check the mixed stacking correspondence table to judge whether the cargo box A numbered 1 can be mixed stacked with other cargo boxes. If not, it controls the loading mechanism to retreat and stack another row again; the planning of stacking the new row starts from the type of cargo box that has not been shipped yet and has the second largest shipment quantity in terms of sorting; A mixed stacking correspondence table modification module, which is used to when the cargo box A numbered 1 can be mixed stacked with other cargo boxes, find the cargo box B corresponding to the cargo box A numbered 1 that can be mixed stacked and has the first sorting number, select this type of cargo box for mixed stacking, and calculate the number of mixed stacking boxes in its last layer; and modify the mixed stacking correspondence table to remove the cargo box B from the types of cargo boxes that other cargo boxes can be stacked; A stacking planning module, which is used to continue in sequence according to the numbering order until the stacking planning of all types of cargo boxes in the current order is completed; A linkage module, which is used to communicatively connect the unpacking and stacking mechanism, the conveying mechanism and the loading mechanism, and stack the cargo based on the stacking planning in step 6; The intelligent cargo box loading control system is used to execute the steps in the intelligent cargo box loading control method according to any one of claims 1-8.

10. A storage medium for computer-readable storage, characterized in that, The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the method according to any one of claims 1 to 8.

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