Tray steel barrel loading method based on inner concave defect of inner wall of cargo compartment

Abstract

The invention provides a pallet steel barrel loading method based on the inner concave defect of the inner wall of a cargo compartment, which comprises the following steps of: modeling the inner wall of the cargo compartment, projecting the inner walls on two sides, identifying concave poles in a projection range, designing a loading scheme according to the distance between the concave poles, and further finishing loading. According to the method, the inner wall of the carriage is modeled, the identification area is determined for each group of tray steel drum projection, the concave poles are obtained for each identification area, and the optimal loading scheme can be determined by judging the distance between the concave poles of different identification areas (the steel drum identification area and the tray identification area) on the two sides. And the repair amount can be judged according to part of serious defect positions, and then truck loading is carried out, so that the space in a cargo compartment can be fully utilized, and even if a pit is generated, the pit can be avoided to the maximum extent and truck loading is completed.

Description

Technical Field

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

[0002] When vans leave the factory, their inner walls are flat, free of dents and protrusions. However, as vans are used, the outer and inner walls inevitably experience collisions and deformation during loading, unloading, and transportation. These collisions and deformations in the outer walls inevitably lead to inward depressions. This can easily lead to collisions and damage to the pallets and drums when loading pallets and drums using conventional loading methods.

[0003] like Figure 1 As shown in the figure, since conventional loading equipment only considers the space occupied by the pallet and steel drums when loading, when calculating the space, the steel drums will not protrude from the pallet, so the space occupied by the steel drums will also be based on the pallet; in this way, a group of pallets and steel drums are simplified to form a complete rectangular loading model (such as Figure 3 As shown). Therefore, when calculating the loading space, the defects of the inner wall of the carriage will also be calculated based on the interference between the defects of the inner wall and the rectangular parallelepiped model. However, in reality, the side of the pallet has a hollow fork groove, and the steel drum is not only inward relative to the edge of the pallet, but also has a cylindrical surface. In other words, there will be concave spaces between the two steel drums on the side of the same group of pallets, and between the steel drums on adjacent groups of pallets. These spaces will not affect the loading process (refer to Figure 1-2 The applicant discovered that if the concave defects correspond to these locations, they would not necessarily affect the stacking position of the steel drums on the pallet. This would undoubtedly provide greater operational space and adjustment strategies for actual loading. The prior art did not identify or solve this problem. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a method for loading steel drums with pallets based on the concave defects in the inner wall of the cargo compartment, which solves the problem that the existing loading technology cannot identify cargo compartment defects and adjusts the relative positions of the pallet and the steel drum in advance according to the cargo compartment defects to complete the loading.

[0005] To achieve the above objectives, the following technical solutions are provided: A method for loading steel drums onto a pallet based on a concave defect in the inner wall of a cargo compartment comprises: Step A: Scan the inner wall of the cargo compartment using a laser radar, and model the left and right inner walls of the cargo compartment based on the scan data. Establish an XYZ three-axis coordinate system based on the cargo compartment floor, where the X axis is the horizontal direction perpendicular to the inner wall of the cargo compartment, the Y axis is the vertical direction perpendicular to the cargo compartment floor, and the Z axis is the horizontal direction parallel to the cargo compartment floor; Step B: Perform matrix projection on the left and right inner walls of the cargo compartment according to the stacking position of each horizontal row of multiple pallet steel drums, and divide the projection area of ​​each horizontal row of multiple pallet steel drums into a pallet identification area and a steel drum identification area, obtaining the concave extreme points Tln and Gln of the pallet identification area and the steel drum identification area on the left cargo compartment inner wall, and the concave extreme points Trn and Grn of the pallet identification area and the steel drum identification area on the right cargo compartment inner wall for the projection of the same horizontal row of multiple pallet steel drums; Step C, obtain the horizontal coordinate difference Trnx-Tlnx of the concave poles of the pallet identification area on the inner wall of the cargo compartment on both sides of the projection of multiple groups of pallets and steel drums in the same horizontal row, and the horizontal coordinate difference Grnx-Glnx of the concave poles of the steel drum identification area, where Trnx is the horizontal coordinate of the concave pole Trn, Tlnx is the horizontal coordinate of the concave pole Tln, Grnx is the horizontal coordinate of the concave pole Grn, and Glnx is the horizontal coordinate of the concave pole Gln; then first calculate the horizontal coordinate difference (Trnx-Tln) of the pallet identification area x) Take the quotient (Trnx-Tlnx) / D of the pallet width D and round it to the nearest integer to get k. Then compare Grnx-Glnx with (k-2)D+D+2d. If Grnx-Glnx>(k-2)D+D+2d, then determine the number of steel drums stacked on this horizontal row of pallets to be k groups. If Grnx-Glnx≤(k-2)D+D+2d, then manually or mechanically manipulate the concave extreme point Grn or Gln to make Grnx-Glnx>(k-2)D+D+2d. Step D: Determine the relative positional relationship between the steel drums and the pallets in the k groups of pallet steel drums in the horizontal row, and the horizontal coordinate of each group of pallet steel drums based on the horizontal coordinate differences calculated in step C; Step E, stacking the pallet steel drums according to the stacking horizontal coordinates of each group of pallet steel drums determined in step D; Step F: Repeat steps C to E, and place another row of palletized steel drums on top of the row of palletized steel drums.

[0006] In step B, the projection width of each horizontal row of multiple groups of steel drums on the pallet is D and the height is H+h, wherein the pallet identification area is located at the bottom, with a width of D and a height of H, corresponding to the side dimensions of the pallet; the steel drum identification area has a width of D and a height of h, the height corresponds to the height of the steel drum, and the width corresponds to the width of the pallet; wherein the side length of the pallet is D and the height is H, the diameter of each steel drum is d, and the height is h, wherein 2d<D.

[0007] In step B, each set of pallet drums includes a pallet and four drums, which are placed on the pallet in a 2×2 arrangement; by default, the four drums are located in the center of the pallet; The projections of all steel drums in the same horizontal row in the X direction are the same, and the projections of multiple groups of steel drums on the same horizontal row on the inner walls of the cargo compartment are imaged as two steel drums arranged in the Z direction; On this basis, the method for obtaining the concave extreme point Tln of the pallet identification area on the inner wall of the left cargo compartment of the projection of multiple groups of pallet steel drums in the same horizontal row in step B includes: obtaining the border of the pallet identification area D×H and all scanning points within the indented range of 1-2 cm, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave extreme point Tln; The method for obtaining the concave extreme point Gln of the steel drum identification area on the inner wall of the left cargo compartment of the projection of multiple groups of steel drums on pallets in the same horizontal row includes: obtaining all scanning points on the projection line of the centers of two steel drums arranged in the Z direction within the steel drum identification area D×h, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave extreme point Gln; Similarly, the method for obtaining the concave extreme point Trn of the pallet identification area on the right cargo compartment inner wall of the projection of multiple groups of pallet steel drums in the same horizontal row includes: obtaining the border of the pallet identification area D×H and all scanning points within the indented range of 1-2 cm, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave extreme point Trn; The method for obtaining the concave pole Grn of the steel drum identification area in the inner wall of the right cargo compartment of the projection of multiple groups of steel drums on pallets in the same horizontal row includes: obtaining all scanning points on the projection line of the centers of two steel drums arranged in the two Z directions within the steel drum identification area D×h, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave pole Grn.

[0008] The laser radar in step A can be the laser radar used in the vehicle loading method of CN119503689A.

[0009] In step C, when Grnx - Glnx ≤ (k-2)D + D + 2d, further compare Tr0x - Grnx and Glnx - Tl0x, where Tr0x is the reference horizontal coordinate of the right cargo compartment inner wall and Tl0x is the reference horizontal coordinate of the left cargo compartment inner wall, to determine the concave extreme point on the side with the larger concave amplitude; If the concave extreme point Grn of the right cargo compartment is larger, that is: Tr0x-Grnx>Glnx-Tl0x, then with the concave extreme point Gln of the left cargo compartment as the base point, calculate the abscissa Grmx of all scanning points Grm on the projection line of the inner wall of the right cargo compartment corresponding to the centers of the two steel drums, and the set of all coordinate points {Grm} whose distance from the abscissa Glnx of the base point satisfies the relationship Grmx-Glnx≤(k-2)D+D+2d, and determine the minimum displacement value δ1 and the set of coordinate points {Grm} including Grn according to δ1+Grnx-Glnx=(k-2)D+D+2d; then, process the area of ​​the set of coordinate points {Grm} manually or mechanically so that the surface of the inner wall of the right cargo compartment in the area of ​​the set of coordinate points {Grm} is shifted to the right by δ1; If the concave amplitude of the concave pole Gln in the left cargo compartment is larger, that is: Tr0x-Grnx<Glnx-Tl0x, then taking the concave pole Grn of the right cargo compartment as the base point, calculate the horizontal coordinates Glmx of all scanning points Glm on the projection line of the inner wall of the left cargo compartment corresponding to the centers of the two steel drums, and all the coordinate sets {Glm} points whose distance from the horizontal coordinate Grnx of the base point satisfies the relationship Grnx-Glmx≤(k-2)D+D+2d, and determine the minimum displacement value δ2 and the coordinate point set {Glm} including Gln according to Grnx-Glnx-δ2=(k-2)D+D+2d; then process the coordinate point set {Glm} area manually or mechanically so that the surface of the inner wall of the left cargo compartment in the coordinate point set {Glm} area is shifted to the left by δ2.

[0010] Step D includes comparing the horizontal coordinates Tlnx and Glnx of the concave extreme point on the left cargo compartment inner wall: D10. If Glnx-Tlnx≤D / 2-d, then the reference horizontal coordinate Tl0x of the inner wall of the left cargo compartment is used as the coordinate position for the left side of the pallet in the first group of pallet drums on the left; Tl0x+D is used as the coordinate position for the left side of the pallet in the second group of pallet drums on the left; Tl0x+2D is used as the coordinate position for the left side of the pallet in the third group of pallet drums on the left; and so on; D20. If Glnx-Tlnx>D / 2-d, then further compare the abscissas Trnx and Grnx of the concave pole of the right cargo compartment inner wall. If Trnx-Grnx≤D / 2-d, then use the reference abscissa Tr0x of the right cargo compartment inner wall as the coordinate position for the right side of the pallet in the first group of pallet drums on the right side; use Tr0x+D as the coordinate position for the right side of the pallet in the second group of pallet drums on the right side; use Tr0x+2D as the coordinate position for the right side of the pallet in the third group of pallet drums on the right side; and so on. D30. If Trnx-Grnx>D / 2-d, then further determine the size of Glnx-Tlnx and Trnx-Grnx: D31. If Glnx-Tlnx>Trnx-Grnx, determine that the two concave poles on the right are closer together, and then use Grnx+D / 2-d as the coordinate position for the right side of the steel pallet in the first group of steel drums on the right; reduce the displacement of D for each group of steel drums to the left; D32. If Glnx-Tlnx≤Trnx-Grnx, determine that the two concave poles on the left are closer together, and then use Glnx-(D / 2-d) as the coordinate position for the left side of the pallet in the first group of pallet steel drums on the left; increase the displacement of D for each group of pallet steel drums to the right.

[0011] D33. If Grnx-Glnx≤(k-2)D+D+2d, and after treatment Grnx-Glnx>(k-2)D+D+2d, then the first group of pallet drums should be stacked on the untreated side. Take the untreated left side as an example: If Glnx-Tlnx≤D / 2-d, refer to step D10 to stack the steel drums on the pallet; If Glnx-Tlnx>D / 2-d, then Glnx-(D / 2-d) is used as the coordinate position of the left side of the pallet in the first group of pallet steel drums on the left; the displacement of D is increased for each group of pallet steel drums to the right.

[0012] Compared with the prior art, the advantages of the present invention are as follows: The present invention models the inner wall of the carriage and determines the identification area by projecting each group of pallet steel drums. Then, the concave pole is obtained for each identification area. By judging the distance between the concave poles of different identification areas on both sides (the steel drum identification area and the pallet identification area), the optimal loading plan can be determined. The repair amount for some serious defect locations can be judged before loading is carried out, thereby making full use of the space in the cargo compartment. Even if a dent occurs, it can be avoided to the greatest extent possible and loading can be completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a side view of a group of steel drums on pallets; Figure 2 This is a top view of a group of steel drums on pallets; Figure 3 The loading model diagram of the structure of the pallet steel drum in the prior art; Figure 4 It is a schematic diagram of the projection onto the inner walls of the cargo compartment on both sides; Figure 5 A schematic diagram of the stacking of steel drums on pallets according to the projection area; Figure 6 This is a schematic diagram of a row of palletized steel drums stacked in a cargo compartment; Figure 7 This is a schematic diagram of a row of palletized steel drums stacked in a cargo compartment; Figure 8 This is a schematic diagram of a row of palletized steel drums stacked in a cargo compartment; Figure 9 This is a schematic diagram showing the projection area divided into a pallet identification area and a steel drum identification area; Figure 10 This is a side view of a steel drum on a pallet.

[0014] In the figure: 1-pallet; 2-steel drum; 3-carriage; 31-concave defect on the inner wall of the left cargo compartment; 32-concave defect on the inner wall of the right cargo compartment; 33-concave defect on the inner wall of the right cargo compartment; 5-pallet identification area; 6-steel drum identification area. DETAILED DESCRIPTION

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations. Example

[0016] like Figure 6 As shown, conventional palletized steel drums are modeled as rectangular parallelepipeds during loading. The dashed lines on either side of the drum in the figure represent the edges of the rectangular parallelepiped. According to conventional loading methods, if the left-side concave defect 31 and the right-side concave defects 32 and 33 are encountered, and if the right-side installation requirements are met (i.e., the palletized steel drum does not interfere with or collide with the right cargo compartment inner wall), then the dashed lines of the rectangular parallelepiped modeling at the left drum location will collide with the location of the concave defect 31. Therefore, the conventional loading method will generate an error in this situation, preventing loading. Example

[0017] Combine Figure 1-8 As shown, the present invention provides a method for loading steel drums onto a pallet based on the concave defect of the inner wall of the cargo compartment, comprising: Step A: Scan the inner wall of the cargo compartment with a laser radar, and build models for the left and right inner walls of the cargo compartment based on the scanned data. Based on the cargo compartment bottom, establish an XYZ three-axis coordinate system, where the X axis is the horizontal direction perpendicular to the cargo compartment inner wall, the Y axis is the vertical direction perpendicular to the cargo compartment bottom, and the Z axis is the horizontal direction parallel to the cargo compartment bottom (reference Figure 4 、 Figure 5 , the figure shows part of the cargo compartment structure, omitting the remaining cargo compartment); Step B: Matrix projection is performed on the left and right inner walls of the cargo compartment according to the stacking positions of the multiple pallet steel drums in each horizontal row, and the projection area of ​​each horizontal row of multiple pallet steel drums is divided into a pallet identification area and a steel drum identification area, and the concave extreme points Tln and Gln of the pallet identification area and the steel drum identification area on the left inner wall of the cargo compartment of the projection of the multiple pallet steel drums in the same horizontal row are obtained (such as Figure 7 As shown, since there is no depression in the cargo compartment inner wall corresponding to the pallet identification area, the concave extreme point at this time is any point on the left cargo compartment inner wall within this area), the concave extreme points Trn and Grn of the pallet identification area and the steel drum identification area on the right cargo compartment inner wall; Step C, obtain the horizontal coordinate difference Trnx-Tlnx of the concave poles of the pallet identification area on the inner wall of the cargo compartment on both sides of the projection of multiple groups of pallets and steel drums in the same horizontal row, and the horizontal coordinate difference Grnx-Glnx of the concave poles of the steel drum identification area, where Trnx is the horizontal coordinate of the concave pole Trn, Tlnx is the horizontal coordinate of the concave pole Tln, Grnx is the horizontal coordinate of the concave pole Grn, and Glnx is the horizontal coordinate of the concave pole Gln; then first calculate the horizontal coordinate difference (Trnx-Tln) of the pallet identification area x) Take the quotient (Trnx-Tlnx) / D of the pallet width D and round it to the nearest integer to get k. Then compare Grnx-Glnx with (k-2)D+D+2d. If Grnx-Glnx>(k-2)D+D+2d, then determine the number of steel drums stacked on this horizontal row of pallets to be k groups. If Grnx-Glnx≤(k-2)D+D+2d, then manually or mechanically manipulate the concave extreme point Grn or Gln to make Grnx-Glnx>(k-2)D+D+2d. Step D: Determine the relative positional relationship between the steel drums and the pallets in the k groups of pallet steel drums in the horizontal row, and the horizontal coordinate of each group of pallet steel drums based on the horizontal coordinate differences calculated in step C; Step E, stacking the pallet steel drums according to the stacking horizontal coordinates of each group of pallet steel drums determined in step D; Step F: Repeat steps C to E, and place another row of palletized steel drums on top of the row of palletized steel drums.

[0018] In step B, the projection width of each horizontal row of multiple groups of steel drums on the pallet is D and the height is H+h, wherein the pallet identification area is located at the bottom, with a width of D and a height of H, corresponding to the side dimensions of the pallet; the steel drum identification area has a width of D and a height of h, the height corresponds to the height of the steel drum, and the width corresponds to the width of the pallet; wherein the side length of the pallet is D and the height is H, the diameter of each steel drum is d, and the height is h, wherein 2d<D.

[0019] In step B, each set of pallet drums includes a pallet and four drums, which are placed on the pallet in a 2×2 arrangement; by default, the four drums are located in the center of the pallet; The projections of all steel drums in the same horizontal row in the X direction are the same, and the projections of multiple groups of steel drums on the same horizontal row on the inner walls of the cargo compartment are imaged as two steel drums arranged in the Z direction; On this basis, the method for obtaining the concave extreme point Tln of the pallet identification area on the inner wall of the left cargo compartment of the projection of multiple groups of pallet steel drums in the same horizontal row in step B includes: obtaining the border of the pallet identification area D×H and all scanning points within the indented range of 1-2 cm, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave extreme point Tln; The method for obtaining the concave extreme point Gln of the steel drum identification area on the left cargo compartment inner wall of the projection of multiple groups of steel drums on the same horizontal row of pallets includes: obtaining the projection lines of the centers of two steel drums arranged in the Z direction in the steel drum identification area D×h ( Figure 10 For all scan points on the YZ longitudinal section of the cargo compartment (shown as the two vertical red lines), determine the point closest to the cargo compartment as the concave pole Gln. Specifically, the difference between the horizontal coordinates of the scan point and the horizontal coordinates of the longitudinal section can be calculated. The scan point with the smallest difference is the concave pole. Similarly, the method for obtaining the concave extreme point Trn of the pallet identification area on the right cargo compartment inner wall of the projection of multiple groups of pallet steel drums in the same horizontal row includes: obtaining the border of the pallet identification area D×H and all scanning points within the indented range of 1-2 cm, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave extreme point Trn; The method for obtaining the concave pole Grn of the steel drum identification area in the inner wall of the right cargo compartment of the projection of multiple groups of steel drums on pallets in the same horizontal row includes: obtaining all scanning points on the projection line of the centers of two steel drums arranged in the two Z directions within the steel drum identification area D×h, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave pole Grn.

[0020] The laser radar in step A can be the laser radar used in the vehicle loading method of CN119503689A. The specific vehicle loading equipment can also be referenced in this patent.

[0021] In step C, combine Figure 7-8 When Grnx-Glnx≤(k-2)D+D+2d, further compare the values ​​of Tr0x-Grnx and Glnx-Tl0x, where Tr0x is the reference horizontal coordinate of the right cargo compartment inner wall and Tl0x is the reference horizontal coordinate of the left cargo compartment inner wall, to determine the concave extreme point on the side with the larger concave amplitude; If the concave extreme point Grn on the right cargo compartment has a larger concave amplitude, that is, Tr0x-Grnx>Glnx-Tl0x, then taking the concave extreme point Gln of the left cargo compartment as the base point, calculate the abscissa Grmx of all scanning points Grm on the projection line of the inner wall of the right cargo compartment corresponding to the centers of the two steel drums, and the set of all coordinate points {Grm} whose distance from the abscissa Glnx of the base point satisfies the relationship Grmx-Glnx≤(k-2)D+D+2d, and determine the minimum displacement value δ1 and the set of coordinate points {Grm} including Grn according to δ1+Grnx-Glnx=(k-2)D+D+2d; then The coordinate point set {Grm} region is processed manually or mechanically, so that the right cargo compartment inner wall surface of the coordinate point set {Grm} region is shifted to the right by δ1. When manual operation is used, the modeling graphics can be sent to the operator's mobile phone, and the area to be processed and the processing amplitude can be displayed. The operator can use mechanical tools to knock, squeeze, etc. on the cargo compartment inner wall according to the modeling display. When mechanical equipment is used to operate the cargo compartment side wall, the operation can be performed by robotic tools, mechanical arms, etc. If the concave amplitude of the concave pole Gln in the left cargo compartment is larger, that is: Tr0x-Grnx<Glnx-Tl0x, then taking the concave pole Grn of the right cargo compartment as the base point, calculate the horizontal coordinates Glmx of all scanning points Glm on the projection line of the inner wall of the left cargo compartment corresponding to the centers of the two steel drums, and all the coordinate sets {Glm} points whose distance from the horizontal coordinate Grnx of the base point satisfies the relationship Grnx-Glmx≤(k-2)D+D+2d, and determine the minimum displacement value δ2 and the coordinate point set {Glm} including Gln according to Grnx-Glnx-δ2=(k-2)D+D+2d; then process the coordinate point set {Glm} area manually or mechanically so that the surface of the inner wall of the left cargo compartment in the coordinate point set {Glm} area is shifted to the left by δ2.

[0022] Compared with the existing technology that cannot know the area that needs to be operated and the amplitude to be processed at one time, the technical solution of the present invention can directly obtain the operation area (coordinate point set {Glm} area) and the amplitude for accurate calculation, which can solve the problem with the fastest response and reduce the time of parking for maintenance. When a robotic arm is used for operation, the machine can be kept running and the inner wall of the cargo compartment can be automatically processed before or during loading.

[0023] Step D includes comparing the horizontal coordinates Tlnx and Glnx of the concave extreme point on the left cargo compartment inner wall: D10. If Glnx-Tlnx≤D / 2-d, then the reference horizontal coordinate Tl0x of the inner wall of the left cargo compartment is used as the coordinate position for the left side of the pallet in the first group of pallet drums on the left; Tl0x+D is used as the coordinate position for the left side of the pallet in the second group of pallet drums on the left; Tl0x+2D is used as the coordinate position for the left side of the pallet in the third group of pallet drums on the left; and so on; D20. If Glnx-Tlnx>D / 2-d, then further compare the abscissas Trnx and Grnx of the concave pole of the right cargo compartment inner wall. If Trnx-Grnx≤D / 2-d, then use the reference abscissa Tr0x of the right cargo compartment inner wall as the coordinate position for the right side of the pallet in the first group of pallet drums on the right side; use Tr0x+D as the coordinate position for the right side of the pallet in the second group of pallet drums on the right side; use Tr0x+2D as the coordinate position for the right side of the pallet in the third group of pallet drums on the right side; and so on. D30. If Trnx-Grnx>D / 2-d, then further determine the size of Glnx-Tlnx and Trnx-Grnx: D31. If Glnx-Tlnx>Trnx-Grnx, determine that the two concave poles on the right are closer together, and then use Grnx+D / 2-d as the coordinate position for the right side of the steel pallet in the first group of steel drums on the right; reduce the displacement of D for each group of steel drums to the left; D32. If Glnx-Tlnx≤Trnx-Grnx, determine that the two concave poles on the left are closer together, and then use Glnx-(D / 2-d) as the coordinate position for the left side of the pallet in the first group of pallet steel drums on the left; increase the displacement of D for each group of pallet steel drums to the right.

[0024] D33. If Grnx-Glnx≤(k-2)D+D+2d, and after treatment Grnx-Glnx>(k-2)D+D+2d, then the first group of pallet drums should be stacked on the untreated side. Take the untreated left side as an example: If Glnx-Tlnx≤D / 2-d, refer to step D10 to stack the steel drums on the pallet; If Glnx-Tlnx>D / 2-d, then Glnx-(D / 2-d) is used as the coordinate position of the left side of the pallet in the first group of pallet steel drums on the left; the displacement of D is increased for each group of pallet steel drums to the right.

[0025] Compared with the prior art, the advantages of the present invention are as follows: The present invention models the inner wall of the carriage and determines the identification area by projecting each group of pallet steel drums. Then, the concave pole is obtained for each identification area. By judging the distance between the concave poles of different identification areas on both sides (the steel drum identification area and the pallet identification area), the optimal loading plan can be determined. The repair amount for some serious defect locations can be judged before loading is carried out, thereby making full use of the space in the cargo compartment. Even if a dent occurs, it can be avoided to the greatest extent possible and loading can be completed.

[0026] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection 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 and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for loading steel drums onto a pallet based on the concave defect of the inner wall of the cargo compartment, characterized in that: include: Step A: Scan the inner wall of the cargo compartment using a laser radar, and model the left and right inner walls of the cargo compartment based on the scan data. Establish an XYZ three-axis coordinate system based on the cargo compartment floor, where the X axis is the horizontal direction perpendicular to the inner wall of the cargo compartment, the Y axis is the vertical direction perpendicular to the cargo compartment floor, and the Z axis is the horizontal direction parallel to the cargo compartment floor; Step B: Perform matrix projection on the left and right inner walls of the cargo compartment according to the stacking position of each horizontal row of multiple pallet steel drums, and divide the projection area of ​​each horizontal row of multiple pallet steel drums into a pallet identification area and a steel drum identification area, obtaining the concave extreme points Tln and Gln of the pallet identification area and the steel drum identification area on the left cargo compartment inner wall, and the concave extreme points Trn and Grn of the pallet identification area and the steel drum identification area on the right cargo compartment inner wall for the projection of the same horizontal row of multiple pallet steel drums; Step C, obtain the horizontal coordinate difference Trnx-Tlnx of the concave poles of the pallet identification area on the inner wall of the cargo compartment on both sides of the projection of multiple groups of pallets and steel drums in the same horizontal row, and the horizontal coordinate difference Grnx-Glnx of the concave poles of the steel drum identification area, where Trnx is the horizontal coordinate of the concave pole Trn, Tlnx is the horizontal coordinate of the concave pole Tln, Grnx is the horizontal coordinate of the concave pole Grn, and Glnx is the horizontal coordinate of the concave pole Gln; then first calculate the horizontal coordinate difference (Trnx-Tln) of the pallet identification area x) Take the quotient (Trnx-Tlnx) / D of the pallet width D and round it to the nearest integer to get k. Then compare Grnx-Glnx with (k-2)D+D+2d. If Grnx-Glnx>(k-2)D+D+2d, then determine the number of steel drums stacked on this horizontal row of pallets to be k groups. If Grnx-Glnx≤(k-2)D+D+2d, then manually or mechanically manipulate the concave extreme point Grn or Gln to make Grnx-Glnx>(k-2)D+D+2d. Step D: Determine the relative position relationship between the steel drums and the pallets in the k groups of pallet steel drums in the horizontal row, and the horizontal coordinate of each group of pallet steel drums based on the horizontal coordinate difference calculated in step C.

2. The loading method according to claim 1, characterized in that: Step E, stacking the pallet steel drums according to the stacking horizontal coordinates of each group of pallet steel drums determined in step D; Step F: Repeat steps C to E, and place another row of palletized steel drums on top of the row of palletized steel drums.

3. The loading method according to claim 1, characterized in that: In step B, the projection width of each horizontal row of multiple groups of steel drums on the pallet is D and the height is H+h, wherein the pallet identification area is located at the bottom, with a width of D and a height of H, corresponding to the side dimensions of the pallet; the steel drum identification area has a width of D and a height of h, the height corresponds to the height of the steel drum, and the width corresponds to the width of the pallet; wherein the side length of the pallet is D and the height is H, the diameter of each steel drum is d, and the height is h, wherein 2d<D.

4. The loading method according to claim 3, characterized in that: In step B, each set of pallet drums includes a pallet and four drums, which are placed on the pallet in a 2×2 arrangement; by default, the four drums are located in the center of the pallet; The projections of all steel drums in the same horizontal row in the X direction are the same, and the projections of multiple groups of steel drums on the pallets in the same horizontal row on the inner walls on both sides of the cargo compartment are imaged as two steel drums arranged in the Z direction.

5. The loading method according to claim 4, characterized in that: On this basis, the method for obtaining the concave extreme point Tln of the pallet identification area on the inner wall of the left cargo compartment of the projection of multiple groups of pallet steel drums in the same horizontal row in step B includes: obtaining the border of the pallet identification area D×H and all scanning points within the indented range of 1-2 cm, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave extreme point Tln; The method for obtaining the concave extreme point Gln of the steel drum identification area on the inner wall of the left cargo compartment of the projection of multiple groups of steel drums on pallets in the same horizontal row includes: obtaining all scanning points on the projection line of the centers of two steel drums arranged in the Z direction within the steel drum identification area D×h, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave extreme point Gln; Similarly, the method for obtaining the concave extreme point Trn of the pallet identification area on the right cargo compartment inner wall of the projection of multiple groups of pallet steel drums in the same horizontal row includes: obtaining the border of the pallet identification area D×H and all scanning points within the indented range of 1-2 cm, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave extreme point Trn; The method for obtaining the concave pole Grn of the steel drum identification area in the inner wall of the right cargo compartment of the projection of multiple groups of steel drums on pallets in the same horizontal row includes: obtaining all scanning points on the projection line of the centers of two steel drums arranged in the two Z directions within the steel drum identification area D×h, and determining the point closest to the YZ longitudinal section of the cargo compartment as the concave pole Grn.

6. The loading method according to claim 5, characterized in that: In step C, when Grnx - Glnx ≤ (k-2)D + D + 2d, further compare Tr0x - Grnx and Glnx - Tl0x, where Tr0x is the reference horizontal coordinate of the right cargo compartment inner wall and Tl0x is the reference horizontal coordinate of the left cargo compartment inner wall, to determine the concave extreme point on the side with the larger concave amplitude; If the concave extreme point Grn of the right cargo compartment is larger, that is: Tr0x-Grnx>Glnx-Tl0x, then with the concave extreme point Gln of the left cargo compartment as the base point, calculate the abscissa Grmx of all scanning points Grm on the projection line of the inner wall of the right cargo compartment corresponding to the centers of the two steel drums, and the set of all coordinate points {Grm} whose distance from the abscissa Glnx of the base point satisfies the relationship Grmx-Glnx≤(k-2)D+D+2d, and determine the minimum displacement value δ1 and the set of coordinate points {Grm} including Grn according to δ1+Grnx-Glnx=(k-2)D+D+2d; then, process the area of ​​the set of coordinate points {Grm} manually or mechanically so that the surface of the inner wall of the right cargo compartment in the area of ​​the set of coordinate points {Grm} is shifted to the right by δ1; If the concave amplitude of the concave pole Gln in the left cargo compartment is larger, that is: Tr0x-Grnx<Glnx-Tl0x, then taking the concave pole Grn of the right cargo compartment as the base point, calculate the horizontal coordinates Glmx of all scanning points Glm on the projection line of the inner wall of the left cargo compartment corresponding to the centers of the two steel drums, and all the coordinate sets {Glm} points whose distance from the horizontal coordinate Grnx of the base point satisfies the relationship Grnx-Glmx≤(k-2)D+D+2d, and determine the minimum displacement value δ2 and the coordinate point set {Glm} including Gln according to Grnx-Glnx-δ2=(k-2)D+D+2d; then process the coordinate point set {Glm} area manually or mechanically so that the surface of the inner wall of the left cargo compartment in the coordinate point set {Glm} area is shifted to the left by δ2.

7. The vehicle loading method according to claim 6, characterized in that: Step D includes comparing the horizontal coordinates Tlnx and Glnx of the concave extreme point on the left cargo compartment inner wall: D10. If Glnx-Tlnx≤D / 2-d, then the reference horizontal coordinate Tl0x of the inner wall of the left cargo compartment is used as the coordinate position for the left side of the pallet in the first group of pallet drums on the left; Tl0x+D is used as the coordinate position for the left side of the pallet in the second group of pallet drums on the left; Tl0x+2D is used as the coordinate position for the left side of the pallet in the third group of pallet drums on the left; and so on; D20. If Glnx-Tlnx>D / 2-d, then further compare the concave pole horizontal coordinates Trnx and Grnx of the inner wall of the right cargo compartment. If Trnx-Grnx≤D / 2-d, then use the reference horizontal coordinate Tr0x of the inner wall of the right cargo compartment as the coordinate position of the right side of the pallet in the first group of pallet steel drums on the right side; use Tr0x+D as the coordinate position of the right side of the pallet in the second group of pallet steel drums on the right side; use Tr0x+2D as the coordinate position of the right side of the pallet in the third group of pallet steel drums on the right side; and so on.

8. The vehicle loading method according to claim 7, characterized in that: Also includes D30. If Trnx-Grnx>D / 2-d, then further determine the size of Glnx-Tlnx and Trnx-Grnx: D31. If Glnx-Tlnx>Trnx-Grnx, then determine that the two concave poles on the right are closer together, and then use Grnx+D / 2-d as the coordinate position for the right side of the steel pallet in the first group of steel drums on the right; reduce the displacement of D for each group of steel drums to the left; D32. If Glnx-Tlnx≤Trnx-Grnx, determine that the two concave poles on the left are closer together, and then use Glnx-(D / 2-d) as the coordinate position for the left side of the pallet in the first group of pallet steel drums on the left; increase the displacement of D for each group of pallet steel drums to the right.

9. The vehicle loading method according to claim 8, characterized in that: Also includes D33. If Grnx-Glnx≤(k-2)D+D+2d, and after treatment Grnx-Glnx>(k-2)D+D+2d, then the first group of pallet drums should be stacked on the untreated side. Take the untreated left side as an example: If Glnx-Tlnx≤D / 2-d, refer to step D10 to stack the steel drums on the pallet; If Glnx-Tlnx>D / 2-d, then Glnx-(D / 2-d) is used as the coordinate position of the left side of the pallet in the first group of pallet steel drums on the left; the displacement of D is increased for each group of pallet steel drums to the right.

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