A loading method for steel drums of a cargo compartment loading tray with an inner wall concave defect

Abstract

The present invention provides a method for loading a pallet steel drum in a cargo box with an inner wall concave defect, including: scanning the inner wall of the cargo box by a lidar and modeling; dividing the left inner wall of the cargo box into rectangular recognition areas in a matrix manner, setting a steel drum recognition area and a pallet recognition area in the recognition areas, and respectively obtaining the abscissas of the convex points of the steel drum recognition area and the pallet recognition area; determining the benchmark for pallet steel drum stacking according to the difference in the abscissas of the two points; stacking a row of pallet steel drums in sequence from left to right; and then stacking row by row from bottom to top. The present invention only needs to calculate the vertical distances between two steel drums and the inner wall of the cargo box and the distances at the corresponding positions of the pallet sides, so as to use the smallest calculation modulus, compare the differences between the two distances, determine the most reasonable stacking position, and thus avoid the problem of collision and extrusion between the pallet steel drums and the inner wall of the cargo box during the stacking process.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent loading equipment, and particularly relates to a method for loading pallet steel drums in a cargo compartment with an inner concave defect on the inner wall. Background Art

[0002] Using a container or a van to load pallet steel drums (the steel drums are stacked on the pallet in a 2×2 manner) is a commonly used method for loading and transportation at present. Since the container and the van will collide during use, the side walls of the compartments of the container and the van will be deformed. Usually, the loading method is designed according to the original state of the compartment. Due to the deformation of the compartment, generally, after a simple visual inspection by the operator, the loading is still carried out according to the structure in the original state. As a result, during the loading process, the pallet, the steel drum and the inner wall of the compartment collide, and in serious cases, the loading cannot continue. Summary of the Invention

[0003] In order to solve the problems existing in the prior art, the present invention provides a method for loading pallet steel drums in a cargo compartment with an inner concave defect on the inner wall, so as to solve the problem of difficult loading caused by the defect of the inner wall of the cargo compartment.

[0004] To achieve the above object, the following technical solutions are provided:

[0005] A method for loading pallet steel drums in a cargo compartment with an inner concave defect on the inner wall includes:

[0006] S10. The lidar enters the cargo compartment, and continuously scans a plurality of cross-sections Zn of the cargo compartment where the lidar is located in the circumferential direction to obtain the polar coordinate scan data of the inner walls on both sides of the cargo compartment on each cross-section and the upper and lower endpoints A hi-n , B hi-n , A lo-n , B lo-n in polar coordinates;

[0007] S20. According to the polar coordinate scan data of the inner walls on both sides and the upper and lower endpoints obtained in step S10, model the bottom surface, the top surface and the inner walls on both sides of the cargo compartment;

[0008] S30. Horizontally and vertically project the inner wall of the left cargo compartment, and divide it into rectangular recognition areas in a matrix manner. The width of each recognition area is D, and the height is H+h. A steel drum recognition area and a pallet recognition area are set in the recognition area. The pallet recognition area is located in the lower part, with a width of D and a height of H. The steel drum recognition area has a width of D and a height of h;

[0009] S40. Obtain the scanning data of the inner wall of the left cargo compartment in each recognition area, filter the abscissa Wlnx of the nearest point Wln to the longitudinal central section of the cargo compartment in the pallet recognition area, and then filter the abscissa Glnx of the nearest point Gln to the longitudinal central section of the cargo compartment in the two vertical line areas at a distance of d / 2 from the vertical center line of the steel drum recognition area; where d is the diameter of the steel drum, D>2d, that is, when the steel drums are stacked in a 2×2 manner in the center of the pallet, the four edges of the pallet protrude beyond the steel drums; using the data in the two vertical line areas as the calculation basis can maximize the saving of calculation pressure and the possibility of errors, and avoid the interference of data in other areas on the calculation result; even if the abscissa data in the area in the middle and on both sides of the vertical line is too large, because it usually does not contact the surface of the steel drum, the data error is overcome; further considering that the concave shape is smoothly transitioned and there is no data bulge (suddenly increased coordinate data), so only calculating two vertical lines can meet the requirements of 99.9% of the usage scenarios; in the implementation process, preferably, the abscissa Wlnx is filtered for the circular area at the edge (or 1-2 cm inside the edge) of the pallet recognition area, so that the calculation can be further optimized and the error can be reduced. This strategy filters out the error brought by the middle jack area of the pallet, and can make the calculation result more accurate and reliable;

[0010] S50. Determine the reference for pallet and steel drum stacking according to the difference in abscissa between the two points;

[0011] S60. Stack a row of pallet and steel drums in sequence from left to right; then stack row by row from bottom to top;

[0012] S70. Horizontally project the inner wall of the right cargo compartment vertically, project the recognition area onto the inner wall of the right cargo compartment, and obtain the scanning data of the inner wall of the right cargo compartment in the recognition area with reference to step S40. Filter the abscissa Wrnx of the nearest point Wrn to the longitudinal central section of the cargo compartment in the pallet recognition area, and then filter the abscissa Grnx of the nearest point Grn to the longitudinal central section of the cargo compartment in the two vertical line areas at a distance of d / 2 from the vertical center line of the steel drum recognition area;

[0013] After stacking the trays, calculate the difference between the abscissa Wrnx of the right side of the tray and the abscissa of the nearest point Wrn. When this difference is less than 2D and greater than or equal to D, then determine the last pallet steel drum in the horizontal row corresponding to the next stacking recognition area; then judge the difference between the abscissa Grnx of the nearest point Grn and the abscissa Mkx of the right endpoint Mk of the rightmost steel drum on the already stacked pallet. When this difference is greater than or equal to D, then stack normally. When this difference is less than D but greater than or equal to D - (D - 2d) / 2 = D / 2 + d, at this time, move the position of the last steel drum on the pallet to the left by (D - 2d) / 2, and then stack. When this difference is less than D / 2 + d, then alarm or abandon stacking.

[0014] In step S10, the abscissa X, ordinate Y, and vertical coordinate Z of the cargo compartment;

[0015] In step S10, each cross-section n obtains a set of polar coordinate scan data;

[0016] In step S10, A hi-n represents the upper endpoint of the left side, located in the second quadrant of the 90 - 180 degree interval; B hi-n represents the upper endpoint of the right side, located in the first quadrant of the 0 - 90 degree interval; A lo-n represents the lower endpoint of the left side, located in the third quadrant between 180 - 270 degrees; B lo-n represents the lower endpoint of the right side, located in the fourth quadrant between 270 - 0 degrees;

[0017] The method for obtaining the four endpoints is to determine the maximum value of the polar radius by scanning with a lidar in each quadrant.

[0018] In step S20, the polar coordinate data obtained by lidar scanning is converted into rectangular coordinate data according to the initial rectangular coordinate system, and the bottom surface is constructed with the connection line of the two bottom endpoints A lo-n , B lo-n . Then, with the bottom surface as the coordinate plane, determine the horizontal center and the vertical center to establish the cargo compartment rectangular coordinate system, and then determine the angular relationship between the cargo compartment rectangular coordinate system and the initial rectangular coordinate system, adjust the polar coordinate data, and then convert it back into the rectangular coordinate data of the cargo compartment rectangular coordinate system; the top surface is constructed with the connection line of the two top endpoints A hi-n , B hi-n . Project the rectangular coordinate data onto the line segment A lo-n B lo-n . Judge the distance Sn between the rectangular coordinate data and A lo-n B lo-n and the distance on A lo-n B lo-nThe distance δ of the end point inward movement, where Sn is used as a reference for dividing the recognition area in step S30, and δ is used to screen the point closest to the longitudinal central section in each recognition area in step S40.

[0019] In step S30, the shape of the tray recognition area adapts to the shape of the tray side, the height of the steel drum recognition area is the same as the height of the steel drum, and the width is greater than the width of the steel drum.

[0020] The horizontal in step S30 means that, according to the set of the two lower end points A lo-n , B lo-n at the corresponding lower part of the rectangular recognition area, the bottom surface is determined, and this bottom surface is used as the horizontal reference surface. If it is parallel to the horizontal reference surface, it is considered to be in the horizontal direction; the longitudinal central section corresponding to step S40 is the longitudinal section perpendicular to the center of the bottom surface.

[0021] Step S50 includes judging whether Glnx - Wlnx is greater than (D - 2d) / 2:

[0022] If Glnx - Wlnx > (D - 2d) / 2, then use the abscissa value Glnx - (D - 2d) / 2 as the loading position of the first tray close to the inner wall of the left cargo compartment;

[0023] If Glnx - Wlnx ≤ (D - 2d) / 2, then use the abscissa value Wlnx as the loading position of the first tray close to the inner wall of the left cargo compartment.

[0024] In step S70, when the two vertical lines at a distance of d / 2 from the vertical center line of the steel drum recognition area do not correspond to the cross-section Zn of the collected data, select the cross-section closest to this vertical line.

[0025] Compared with the prior art, the advantages of the present invention are as follows:

[0026] The present invention conducts laser radar scanning and modeling, and then conducts targeted design for the stacking of each row of trays and steel drums. By identifying the inner wall of the cargo compartment and combining the characteristics of the trays and steel drums for judgment, especially avoiding the complex calculation of the area far from the inner wall of the cargo compartment between the steel drums, only need to calculate the vertical distance between the two steel drums close to the inner wall of the cargo compartment and the distance at the corresponding position of the tray side, so as to use the smallest calculation modulus, compare the difference between the two distances, determine the most reasonable stacking position, and thus avoid the problem of collision and extrusion between the trays and steel drums and the inner wall of the cargo compartment during the stacking process. Brief Description of the Drawings

[0027] Figure 1 It is a schematic diagram of obtaining four end points by laser radar scanning in four quadrants;

[0028] Figure 2It is a schematic diagram of dividing the recognition area after the horizontal vertical projection of the inner wall of the left cargo compartment in step S30;

[0029] Figure 3 It is a top view of the pallet steel drum;

[0030] Figure 4 It is a side view of the pallet steel drum;

[0031] Figure 5 It is a schematic diagram of the side projection dimensions of the pallet steel drum, showing the dimensions of the pallet and the steel drum in the figure;

[0032] Figure 6 It is opposite to Figure 5 and shows a schematic diagram of the recognition area;

[0033] Figure 7 It is a schematic diagram of the side projection of the pallet steel drum, showing the positional relationship with the inner wall of the left cargo compartment in the figure;

[0034] Figure 8 It is a schematic diagram of the partition of the recognition area;

[0035] Figure 9 It is a schematic diagram of the structure of the last pallet steel drum stacked horizontally in the normal stacking;

[0036] Figure 10 It is a schematic diagram of the structure after stacking the steel drum on the last pallet by moving it leftward by (D - 2d) / 2;

[0037] Figure 11 It is combined with Figures 9 - 10 to form a top view of the relative positional relationship between the pallet and the steel drum. Detailed implementation manner

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations. Embodiment

[0039] Combined with Figures 1 - 8 shown, a loading method for loading a pallet steel drum into a cargo compartment with an inner wall concave defect provided by the present invention includes:

[0040] S10. The lidar enters the cargo compartment along with the loading machine system, and continuously scans multiple cross-sections Zn of the cargo compartment where the lidar is located in the circumferential direction to obtain the polar coordinate scan data of the inner walls on both sides of the cargo compartment and the upper and lower endpoints A hi-n , Bhi-n , A lo-n , B lo-n The polar coordinates of ; usually, the lidar enters the end of the cargo compartment along with the loading machine, and then the lidar is started to scan the inner wall of the cargo compartment circumferentially. As the scanning progresses, the loading machine continuously retreats. Since the rotational scanning of the lidar and the retreat of the loading machine can be carried out synchronously or step by step, when carried out synchronously, the circumferential data scanned will actually be spiral-shaped data. However, since the retreat speed is very slow and the rotational scanning speed of the lidar is very fast, the data obtained after each rotation of the lidar can be fitted onto a plane. The fitted data is basically consistent with the situation of the inner wall of the cargo compartment and will not have a great impact on the loading process. Each time the lidar rotates one week, it will scan a cross-section. For example, for the cross-section Z1, the four scanned endpoints are A hi-1 , B hi-1 , A lo-1 , B lo-1 ; and then so on until the scanned data of the cross-section Zn;

[0041] S20. Based on the polar coordinate scanning data and the upper and lower endpoints of the two inner walls obtained in step S10, model the bottom surface, top surface and two inner walls of the cargo compartment, so that all the detected data form a domain, thus facilitating the division of the modeled left inner wall and right inner wall of the cargo compartment into recognition regions;

[0042] S30. As shown in Figure 2 , project the left inner wall of the cargo compartment horizontally and vertically, and divide it into rectangular recognition regions in the form of a matrix. The width of each recognition region is D and the height is H + h (refer to Figure 5 ), and set a steel drum recognition region 4 and a pallet recognition region 3 in the recognition region. Among them, the pallet recognition region 3 is located in the lower part, with a width of D and a height of H, and the steel drum recognition region 4 has a width of D and a height of h; each recognition region is in direct contact with the four adjacent recognition regions;

[0043] S40. Obtain the scanning data of the left inner wall of the cargo compartment in each recognition region, and screen the abscissa Wlnx of the point Wln closest to the longitudinal central section of the cargo compartment in the pallet recognition region, and then screen the abscissa Glnx of the point Gln closest to the longitudinal central section of the cargo compartment in the two vertical line regions at a distance of d / 2 from the vertical center line of the region in the steel drum recognition region; where d is the diameter of the steel drum, D > 2d, that is, when the steel drums are stacked in a 2×2 manner in the center of the pallet, the four edges of the pallet protrude beyond the steel drums (refer to Figures 3 - 4); Using the data in the two vertical line areas as the calculation basis can maximize the savings in calculation pressure and the possibility of errors, and avoid the interference of data in other areas on the calculation results; even if the abscissa data in the areas in the middle and on both sides of the vertical lines is too large, since it usually does not contact the surface of the steel drum, data errors are overcome; further considering that the concave shapes are all smoothly transitioned and there are no data protrusions (suddenly increasing coordinate data), so only calculating two vertical lines can meet the requirements of 99.9% of the usage scenarios; during the implementation process, preferably, the abscissa Wlnx of the circular area at the edge of the pallet recognition area (or 1-2 cm inside the edge) can be screened out, so that the calculation can be further optimized and the error can be reduced. This strategy screens out the error brought by the middle jack area of the pallet, and can make the calculation result more accurate and reliable;

[0044] S50. Determine the benchmark for pallet and steel drum stacking according to the difference in abscissa between two points (as shown in, pallet 1, steel drum 2); Figures 3 - 4 as shown

[0045] S60. Stack a row of pallet and steel drums in sequence from left to right. After each pallet and steel drum is stacked, the coordinates of the right edge of the pallet are identified by the vision or ranging sensor of the loading machine, and then these coordinates are used as the initial coordinates for stacking the next pallet and steel drum; when the lower row of pallet and steel drums is stacked, stack the second row of pallet and steel drums on it until the entire cross-section;

[0046] S70. Horizontally and vertically project the inner wall of the right cargo compartment, project the recognition area onto the inner wall of the right cargo compartment, obtain the scan data of the inner wall of the right cargo compartment in the recognition area with reference to step S40, screen out the abscissa Wrnx of the nearest point Wrn to the longitudinal central section of the cargo compartment in the pallet recognition area, and then screen out the abscissa Grnx of the nearest point Grn to the longitudinal central section of the cargo compartment in the two vertical line areas at a distance of d / 2 from the vertical center line of the steel drum recognition area;

[0047] S80. Combine Figures 9 - 11 , after stacking the pallet, calculate the difference between the abscissa Wrnx of the right side of the pallet and the nearest point Wrn. When this difference is less than 2D and greater than or equal to D, then determine the last pallet and steel drum in the corresponding horizontal row to be stacked next; then judge the difference between the abscissa Grnx of the nearest point Grn and the abscissa Mkx of the right end point Mk of the rightmost steel drum on the stacked pallet. When this difference is greater than or equal to D, stack normally. When this difference is less than D but greater than or equal to D - (D - 2d) / 2 = D / 2 + d, at this time, move the position of the last steel drum on the pallet to the left by (D - 2d) / 2, and then stack. When this difference is less than D / 2 + d, alarm or give up stacking.

[0048] Generally, since the four steel drums on each pallet are located at the center of the pallet, after the pallets are stacked, the distance between the right steel drums on two adjacent pallets is exactly the width of one pallet, which is D. Then the maximum adjustment distance of the steel drum on the pallet, that is, moving from the center of the pallet to the edge, referring to Figure 11 As shown, the distance from each steel drum to the edge of the pallet is (D - 2d) / 2, that is, the width D of the pallet minus the diameters d of two steel drums (2d in total), and then each edge takes half, which is (D - 2d) / 2. This is also the maximum distance that the steel drum on the pallet can move towards the edge. Exceeding this distance will cause the steel drum to press on other pallets.

[0049] So the distance Grnx - Mkx between the right pallet and the closest point Grn, it is okay for this distance to be greater than D (because normally, the distance between the right steel drums on two adjacent pallets is D). If it is less than D, the steel drum on the last pallet needs to be moved to the left. Based on the previous description, the maximum distance of its movement is (D - 2d) / 2. At this time, by reverse derivation, the abscissa of the closest point Grn is exactly the same as the right coordinate of the last steel drum at this time, that is, the extreme value of the abscissa of Grn. This extreme value needs to satisfy D - (D - 2d) / 2 = D / 2 + d.

[0050] In step S10, the abscissa X, ordinate Y, and vertical coordinate Z of the cargo compartment;

[0051] In step S10, each cross-section n obtains a set of polar coordinate scan data;

[0052] In step S10, A hi-n represents the upper endpoint of the left side, located in the second quadrant of the 90 - 180 degree interval; B hi-n represents the upper endpoint of the right side, located in the first quadrant of the 0 - 90 degree interval; A lo-n represents the lower endpoint of the left side, located in the third quadrant between 180 - 270 degrees; B lo-n represents the lower endpoint of the right side, located in the fourth quadrant between 270 - 0 degrees;

[0053] The method for obtaining the four endpoints is to determine the maximum value of the polar radius by scanning with a lidar in each quadrant.

[0054] In step S20, the polar coordinate data scanned by the lidar is converted into rectangular coordinate data according to the initial rectangular coordinate system, and with the two bottom endpoints A lo-n 、B lo-nConnect the lines to form the bottom surface, and then use the bottom surface as the coordinate plane to determine the horizontal center and vertical center to establish a rectangular coordinate system for the carriage. Then determine the angular relationship between the rectangular coordinate system of the carriage and the initial rectangular coordinate system, adjust the polar coordinate data, and then re-convert it into the rectangular coordinate data of the rectangular coordinate system of the carriage; use the connection of the two top endpoints A hi-n and B hi-n to form the top surface, project the rectangular coordinate data onto the line segment A lo-n B lo-n , and judge the distance Sn between the rectangular coordinate data and A lo-n B lo-n and the inward distance δ at the endpoints of A lo-n B lo-n . Among them, Sn is used as a reference for dividing the recognition area in step S30, and δ is used to screen the point closest to the longitudinal center section in each recognition area in step S40.

[0055] In step S30, the shape of the tray recognition area fits the shape of the tray side, and the height of the steel drum recognition area is the same as the height of the steel drum, and the width is greater than the width of the steel drum.

[0056] The "horizontal" in step S30 means that according to the set of the two lower endpoints A lo-n and B lo-n directly below the rectangular recognition area, the bottom surface is drawn up, and this bottom surface is used as the horizontal reference surface. If it is parallel to the horizontal reference surface, it is considered to be the horizontal direction; the longitudinal center section corresponding to step S40 is the longitudinal section perpendicular to the center of the bottom surface.

[0057] Step S50 includes judging whether Glnx - Wlnx is greater than (D - 2d) / 2:

[0058] If Glnx - Wlnx > (D - 2d) / 2, then use the abscissa value Glnx - (D - 2d) / 2 as the loading position of the first tray close to the inner wall of the left cargo compartment;

[0059] If Glnx - Wlnx ≤ (D - 2d) / 2, then use the abscissa value Wlnx as the loading position of the first tray close to the inner wall of the left cargo compartment.

[0060] This step combines the combined structural characteristics of the steel drum and the tray with the depression on the inner wall surface of the cargo compartment, so that the tray and the steel drum are placed inside the cargo compartment in an optimal way, and collisions with the depression on the inner wall surface of the cargo compartment can be avoided during placement, thus avoiding extrusion between the steel drum, the tray and the inner wall of the cargo compartment.

[0061] In step S70, when the two vertical lines at a distance of d / 2 from the vertical center line of the steel drum recognition area do not correspond to the cross-section Zn of the collected data, select the cross-section closest to the vertical line.

[0062] Compared with the prior art, the advantages of the present invention are as follows:

[0063] The present invention performs laser radar scanning and modeling, and then makes a targeted design for the stacking of pallet steel drums in each row. By identifying the inner wall of the cargo compartment and combining with the characteristics of the pallet steel drums, especially avoiding the complex calculation of the area far from the inner wall of the cargo compartment between the steel drums, only the vertical distance between two steel drums close to the inner wall of the cargo compartment and the distance at the corresponding position of the side of the pallet need to be calculated. Thus, using the minimum calculation modulus, by comparing the difference between the two distances, the most reasonable stacking position is determined, thereby avoiding the problem of collision and extrusion between the pallet steel drums and the inner wall of the cargo compartment during the stacking process.

[0064] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for loading steel drums of a cargo compartment loading tray with inner wall concave defects, characterized in that, Including: S10. Enter the cargo compartment by the lidar, and use the lidar to scan a continuous plurality of circumferential cross-sections Zn of the cargo compartment at the location where it is located, so as to obtain the polar coordinate scan data of the inner walls on both sides of the cargo compartment and the upper and lower end points A hi-n , B hi-n , A lo-n , B lo-n in polar coordinates; S20. Model the bottom surface, top surface and inner walls on both sides of the cargo compartment according to the polar coordinate scanning data and the upper and lower endpoints of the inner walls on both sides obtained in step S10. S30. Horizontally and vertically project the inner wall of the left cargo compartment, divide it into rectangular recognition areas in a matrix manner. The width of each recognition area is D, and the height is H + h. Set a steel drum recognition area and a pallet recognition area in the recognition area. The pallet recognition area is located at the lower part, with a width of D and a height of H. The steel drum recognition area has a width of D and a height of h. S40. Obtain the scanning data of the inner wall of the left cargo compartment in each recognition area, screen the abscissa Wlnx of the point Wln closest to the longitudinal central section of the cargo compartment in the pallet recognition area, and then screen the abscissa Glnx of the point Gln closest to the longitudinal central section of the cargo compartment in the two vertical line areas at a distance of d / 2 from the vertical center line of the area in the steel drum recognition area. Here, d is the diameter of the steel drum, and D > 2d, that is, when the steel drums are stacked in a 2×2 manner in the center of the pallet, the four edges of the pallet protrude beyond the steel drums. S50. Determine the benchmark for stacking pallets and steel drums according to the difference in abscissas of the two points. S60. Stack a row of pallet-steel drum combinations in sequence from left to right, and then stack row by row from bottom to top. S70. Horizontally and vertically project the inner wall of the right cargo compartment, project the recognition area onto the inner wall of the right cargo compartment, obtain the scanning data of the inner wall of the right cargo compartment in the recognition area with reference to step S40, screen the abscissa Wrnx of the point Wrn closest to the longitudinal central section of the cargo compartment in the pallet recognition area, and then screen the abscissa Grnx of the point Grn closest to the longitudinal central section of the cargo compartment in the two vertical line areas at a distance of d / 2 from the vertical center line of the area in the steel drum recognition area. S80. After stacking the pallets, calculate the difference between the right side of the pallet and the abscissa Wrnx of the point Wrn. When the difference is less than 2D and greater than or equal to D, determine that the last pallet-steel drum combination in the corresponding row of the recognition area will be stacked next. Then, judge the difference between the abscissa Grnx of the point Grn and the abscissa Mkx of the right endpoint of the rightmost steel drum on the stacked pallet. When the difference is greater than or equal to D, stack it normally. When the difference is less than D but greater than or equal to D / 2 + d, move the position of the last steel drum on the pallet to the left by (D - 2d) / 2 and then stack it. When the difference is less than D / 2 + d, give an alarm or abandon stacking.

2. The loading method according to claim 1, wherein In step S10, the abscissa X, ordinate Y and vertical coordinate Z of the cargo compartment.

3. The loading method according to claim 2, wherein In step S10, a set of polar coordinate scanning data is obtained for each cross-section n.

4. The loading method according to claim 1, characterized in that, In step S10, A hi-n represents the upper endpoint of the left side face, located in the second quadrant of the 90 - 180 degree interval; B hi-n represents the upper endpoint of the right side face, located in the first quadrant of the 0 - 90 degree interval; A lo-n represents the lower endpoint of the left side face, located in the third quadrant between 180 - 270 degrees; B lo-n represents the lower endpoint of the right side face, located in the fourth quadrant between 270 - 0 degrees; The method for obtaining the four endpoints is to determine the maximum value of the polar radius by scanning with a lidar in each quadrant.

5. The loading method according to claim 1, characterized in that, In step S20, the polar coordinate data obtained by lidar scanning is converted into Cartesian coordinate data according to the initial Cartesian coordinate system, and the bottom endpoints A lo-n , B lo-n are used to construct the bottom surface. Then, with the bottom surface as the coordinate plane, the horizontal center and the vertical center are determined to establish the carriage Cartesian coordinate system. Then, the angular relationship between the carriage Cartesian coordinate system and the initial Cartesian coordinate system is determined, and the polar coordinate data is adjusted and then reconverted into the Cartesian coordinate data of the carriage Cartesian coordinate system; the top endpoints A hi-n , B hi-n are used to construct the top surface, and the Cartesian coordinate data is projected onto the line segment A lo-n B lo-n . The distance Sn between the Cartesian coordinate data and A lo-n B lo-n and the inward distance δ at the endpoints of A lo-n B lo-n are judged. Among them, Sn is used as a reference for dividing the recognition area in step S30, and δ is used to screen the point closest to the longitudinal center section in each recognition area in step S40.

6. The loading method according to claim 1, wherein In step S30, the shape of the pallet recognition area fits the shape of the pallet side. The height of the steel drum recognition area is the same as the height of the steel drum, and the width is greater than the width of the steel drum.

7. The loading method according to claim 1, wherein The "horizontal" in step S30 means that, based on the set of the two lower end points A lo-n , B lo-n directly below the rectangular recognition area, the bottom surface is determined, and this bottom surface is used as the horizontal reference plane. If it is parallel to the horizontal reference plane, it is considered to be in the horizontal direction; the longitudinal central section corresponding to step S40 is the longitudinal section perpendicular to the center of the bottom surface.

8. The loading method according to claim 1, characterized in that Step S50 includes judging whether Glnx - Wlnx is greater than (D - 2d) / 2: If Glnx - Wlnx > (D - 2d) / 2, then use the abscissa value Glnx - (D - 2d) / 2 as the loading position of the first pallet close to the inner wall of the left cargo compartment; If Glnx - Wlnx ≤ (D - 2d) / 2, then use the abscissa value Wlnx as the loading position of the first pallet close to the inner wall of the left cargo compartment.

9. The loading method according to claim 1, characterized in that In steps S70 and S40, when the two vertical lines at a distance of d / 2 from the vertical center line of the ladle identification area do not correspond to the cross-section Zn of the collected data, select the cross-section closest to the vertical line.

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