Tray steel drum play prevention based loading method

Abstract

The invention provides a truck loading method based on movement prevention of a tray steel drum. The truck loading method comprises the steps that modeling is conducted on the inner wall of a carriage; indent poles are identified in the tray identification area; according to the position relation between the concave poles, the stacking position of the tray steel drum is determined; the gap between the tray and the side wall of the carriage and the direction are determined according to the stacking position of the tray steel drum; selecting cushion blocks with the same thickness as the gap, and mounting on the side surface of the tray; and the loading system is used for stacking, so that the cushion blocks are extruded and limited by the inner wall of the compartment. According to the method, the concave defect of the inner wall of the carriage is recognized, then the loading scheme of the tray steel drum is designed to avoid the defect position, the gap between the tray and the side wall is judged, and therefore the proper cushion block is selected to be installed on the side of the tray according to the gap, and when the tray is stacked in the carriage, the cushion block is supported between the tray and the inner wall of the carriage, and the tray steel drum loading efficiency is improved. Therefore, the problem that the tray moves is effectively prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent loading equipment, and in particular to a loading method based on pallet steel drum anti-movement Background Art

[0002] After loading palletized steel drums onto a van, they are typically transported over long distances. Due to long-term use, the inner walls of the van itself can become deformed due to collisions, centrifugal forces from turning during transportation, and friction from braking. When palletized steel drums are stacked again in the deformed van, the concave inner walls can cause the pallets to collide with the van's inner walls.

[0003] The applicant has discovered that by scanning and modeling the interior walls of the truck compartment, identifying concave defects and circumventing them during loading, it is possible to prevent collisions between palletized steel drums and the interior walls of the truck compartment. However, the applicant has also discovered that to avoid these concave defects, the palletized steel drums must be positioned correctly. This adjustment creates gaps of varying sizes between the pallets and the interior walls of the truck compartment. These gaps can cause the pallets to shift toward these gaps due to the overall swaying of the truck compartment during transportation (usually when the truck turns). This causes the pallets to shift toward these gaps, resulting in the pallets not remaining in their original loading position after loading. This movement also creates problems during unloading.

[0004] However, since these gaps are of different sizes and randomly located, conventional fixing methods and tools cannot fix these gaps, causing the pallet to move toward the side wall of the carriage during the tilting process of the carriage. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the present invention provides a loading method based on pallet steel drum anti-movement, which solves the problem of pallet movement caused by the gap between the pallet steel drum and the inner wall inside the carriage after identifying the inner wall defects.

[0006] To achieve the above objectives, the following technical solutions are provided: A method for loading a truck based on pallet steel drums to prevent movement, comprising: S10, scanning defects on the inner walls of both sides of the carriage, and modeling the inner walls of the carriage based on the rectangular coordinate system of the carriage floor; S20. Each pallet and the four steel drums on it constitute a unit. Based on the loading and stacking positions, the edges of the pallet and the center axis of the steel drums of each unit are projected onto the inner walls of the carriage on both sides to form a pallet identification area and a steel drum identification area on the inner walls on both sides, respectively. S30, identifying the concave extreme points Tln and Trn in the pallet identification area, and identifying the concave extreme points Gln and Grn in the drum identification area; S40, determining the stacking position of the steel drum on the pallet according to the positional relationship between the concave extreme points Tln and Gln, and the positional relationship between the concave extreme points Trn and Grn; S50, determining the gap Dx between the pallet and the side wall of the carriage, and the direction of the gap according to the stacking position of the steel drums on the pallet; S60: After the pallet and steel drum to be loaded are aligned by the pallet-to-be-loaded steel drum correction device, a spacer with a thickness equal to the gap Dx is selected based on the gap Dx determined in step S50 and installed on the side of the pallet corresponding to the direction of the gap determined in step S50; S70. The loading system stacks the pallet with the cushion blocks according to the stacking position determined in step S40, so that the cushion blocks are squeezed and limited by the inner wall of the carriage.

[0007] Since the inner wall of the carriage is continuous, any sudden warping on the inner wall indicates that the inner wall of the carriage has serious defects and cannot be loaded and used. This can be directly observed and identified with the naked eye; so in fact, the carriage that looks "basically intact" has smooth, less obvious concave or convex parts. Even if only the frame of the pallet and the projection of the central axis of the steel drum on the inner wall of the carriage are inspected, it can fully meet the requirements of detecting defects and loading and stacking palletized steel drums.

[0008] Step S10 includes: scanning the inner wall of the cargo compartment using a laser radar, and modeling the left and right inner walls of the cargo compartment based on the scanned data. An XYZ three-axis coordinate system is established based on the cargo compartment bottom surface, 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 bottom surface, and the Z axis is the horizontal direction parallel to the cargo compartment bottom surface; In step S20, the length and width of the pallet are both D, and the height is H. The diameter of the steel drum is d, and the height is h. 2d<D. The steel drum is placed in the center of the pallet in a 2×2 pattern. The distance between the bottom of the steel drum and the edge of the pallet is D / 2-d. The pallet identification area includes one pallet identification area on each of the left and right compartments: a left pallet identification area and a right pallet identification area; the left pallet identification area is formed by projecting the edge of the pallet onto the inner wall of the left compartment, and the right pallet identification area is formed by projecting the edge of the pallet onto the inner wall of the right compartment; The steel drum recognition area includes one steel drum recognition area on each of the left and right carriages: the left steel drum recognition area and the right steel drum recognition area; the left steel drum recognition area is formed by the projection of the central axis of the steel drum onto the inner wall of the left carriage, and the right steel drum recognition area is formed by the projection of the central axis of the steel drum onto the inner wall of the right carriage.

[0009] In step S30, the method for identifying each concave pole is to take the left steel drum identification area as an example: obtain the horizontal coordinate data or model coordinate data of the scanning point in the left steel drum identification area in step S20, and calculate the point with the smallest distance from the longitudinal center plane of the car as the concave pole Gln of the left steel drum identification area, and the corresponding horizontal coordinate is Glnx; Similarly, the concave extreme point Trn of the steel barrel recognition area on the right is obtained, and the corresponding horizontal coordinate is Trnx; The concave point Gln of the steel barrel identification area on the left, and the corresponding horizontal coordinate Glnx; The concave pole Grn of the steel barrel identification area on the right, and the corresponding horizontal coordinate Grnx.

[0010] Step S40 includes: S41. Determine the stacking position of the first steel drum on the left pallet based on the positional relationship between the concave extreme points Tln and Gln on the left inner wall, including: Calculate the difference in the horizontal coordinates of the two concave poles, Glnx-Tlnx, and compare it with D / 2-d; When Glnx-Tlnx>D / 2-d, the left side of the steel drum on the first pallet is used as the reference to determine the stacking position of the steel drum on the left side. The left side of the steel drum contacts the concave extreme point Gln, and the horizontal coordinate of the left side of the steel drum is Glnx. At this time, the stacking horizontal coordinate of the left side of the pallet is Glnx-(D / 2-d). The size of the gap D1 between the left side of the first pallet and the left inner wall of the carriage is Glnx-(D / 2-d)-Tlnx. When Glnx-Tlnx≤D / 2-d, the stacking position of the steel drum on the left pallet is determined based on the left side of the first pallet. At this time, the left side of the first pallet contacts the concave extreme point Tln, and the stacking horizontal coordinate of the left side of the first pallet is Tlnx. At this time, the gap between the left side of the first pallet and the left inner wall of the carriage is 0. S42. Place the 1st, 2nd, ... kth pallets of steel drums on the right side of the first pallet on the left, and determine the horizontal coordinate of the right side of the kth pallet to be Glnx-(D / 2-d)+(k+1)D or Tlnx+(k+1)D, recorded as Tkx; S43. Determine the positional relationship between the horizontal coordinate Tkx of the right side of the k-th tray and the concave extreme point Trn of the right inner wall: When D<Trnx-Tkx<2D, it is determined that only one pallet can be stacked on the right side of the k-th pallet. At this time, the size of the gap D2 between the right side of the k+1-th pallet and the right inner wall is determined to be Trnx-Tkx-D; When D = Trnx-Tkx, it is determined that only one pallet can be stacked on the right side of the kth pallet, and the gap is 0.

[0011] Step S50 includes: S51. According to step S41, it is determined that the size of the gap D1 between the left side of the first pallet and the left inner wall of the carriage is Glnx-(D / 2-d)-Tlnx, or the gap between the left side of the first pallet and the left inner wall of the carriage is 0, and the direction is left; S53. According to step S43, it is determined that the size of the gap D2 between the right side of the k+1th tray and the right inner wall is Trnx-Tkx-D, or the gap between the right side of the k+1th tray and the right inner wall is 0, and the direction is right.

[0012] Step S60 includes selecting a spacer with a thickness equal to the gap size according to the gap Dx and the direction of the gap obtained in step S50, and inserting the spacer from the side into the side of the pallet in the same direction as the gap after the pallet correction device completes the correction.

[0013] The side of the pad is inserted into the fork hole on the side of the pallet through the insert block, and the upper part of the pad is horizontally overlapped on the upper part of the pallet to form a cross top. The cross top and the insert block clamp the edge of the upper panel of the pallet; the cross top is also provided with a concave arc surface according to the position of the two steel drums, and the concave arc surface abuts against the bottom edge of the steel drum.

[0014] The side thickness of the pad corresponds to the gap Dx at the location where the pallet is to be stacked. When manually installing the pad, the system sends the gap Dx and the direction of the gap to the handheld terminal, which then displays the pad with the thickness corresponding to the gap Dx and the installation direction of the pad. The operator can then select the pad with the appropriate thickness and install it on the pallet based on the display. When using a robotic arm for installation, the equipment library delivers the pads corresponding to the thickness and gap Dx to the side of the pallet according to the instructions, and then the robotic arm grabs the pads and inserts them onto the pallet; If the conveying direction or manual installation direction of the pad is opposite to the installation direction of the pad, the pallet will be rotated 180 degrees by the rotary equipment and then stacked in the designated position by the loading system.

[0015] Step S70 includes conveying the palletized steel drum into the carriage by a conveyor roller, and then picking up the palletized steel drum by a gantry forklift and stacking it at a designated location.

[0016] Compared with the prior art, the advantages of the present invention are as follows: The present invention identifies the concave defect of the inner wall of the carriage, then designs a loading plan for the pallet steel drum to avoid the defective position, and determines the gap between the pallet and the side wall, so as to select suitable pads to be installed on the side of the pallet according to the gap. When the pallet is stacked in the carriage, the pads are supported between the pallet and the inner wall of the carriage, thereby effectively preventing the problem of the pallet moving; at the same time, the pads can also provide support for the side bottom of the steel drum, thereby limiting the steel drum and preventing the steel drum from colliding with the inner wall of the carriage after sideways movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 This is a schematic diagram of the projection recognition of the pallet steel drum; Figure 4 This is a schematic diagram of loading and stacking palletized steel drums; Figure 5 This is a schematic diagram of the structure of the pad. DETAILED DESCRIPTION

[0018] 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

[0019] Combine Figure 1-4 As shown, the present invention provides a method for loading steel drums on pallets to prevent movement, comprising: S10, scanning defects on the inner walls of both sides of the compartment, and modeling the inner walls of the compartment based on a rectangular coordinate system constructed on the compartment floor; Step S10 includes: scanning the inner walls of the cargo compartment using a laser radar, and modeling the inner walls of the left and right sides of the cargo compartment based on the scanned data, and establishing an XYZ three-axis coordinate system based on the cargo compartment bottom surface, wherein the X axis is a horizontal direction perpendicular to the inner walls of the cargo compartment, the Y axis is a vertical direction perpendicular to the cargo compartment bottom surface, and the Z axis is a horizontal direction parallel to the cargo compartment bottom surface; Since the inner wall of the carriage is continuous, any sudden warping on the inner wall indicates that the inner wall of the carriage has serious defects and cannot be loaded and used. This can be directly observed and identified with the naked eye; so in fact, the carriage that looks "basically intact" has smooth, less obvious concave or convex parts. Even if only the frame of the pallet and the projection of the central axis of the steel drum on the inner wall of the carriage are inspected, it can fully meet the requirements of detecting defects and loading and stacking palletized steel drums.

[0020] S20, each pallet 1 and the four steel drums 2 thereon are considered as a unit, and the pallet edge of each unit (such as Figure 3 Green border) and the center axis of the steel drum (such as Figure 3 The two red vertical lines (in the middle) are projected onto the inner walls of the carriage on both sides, forming a pallet recognition area and a steel drum recognition area on each side. Each recognition area uses the least amount of computational data, which not only reduces the computational workload but also avoids interference caused by redundant data. For example, the side areas on both sides of the center of the steel drum are arc-shaped and far away from the inner walls of the carriage. If the data in these areas were taken into account during the calculation process, it would have a serious impact on the recognition results and stacking plan. In step S20, the length and width of the pallet are both D, and the height is H. The diameter of the steel drum is d, and the height is h. 2d<D. The steel drum is placed in the center of the pallet in a 2×2 pattern. The distance between the bottom of the steel drum and the edge of the pallet is D / 2-d. The pallet identification area includes one pallet identification area on each of the left and right compartments: a left pallet identification area and a right pallet identification area; the left pallet identification area is formed by projecting the edge of the pallet onto the inner wall of the left compartment, and the right pallet identification area is formed by projecting the edge of the pallet onto the inner wall of the right compartment; The steel drum recognition area includes one steel drum recognition area on each of the left and right carriages: the left steel drum recognition area and the right steel drum recognition area; the left steel drum recognition area is formed by the projection of the central axis of the steel drum onto the inner wall of the left carriage, and the right steel drum recognition area is formed by the projection of the central axis of the steel drum onto the inner wall of the right carriage.

[0021] S30, such as Figure 4 As shown, the concave poles Tln and Trn are identified in the pallet identification area, and the concave poles Gln and Grn are identified in the steel drum identification area. In step S30, the method for identifying each concave pole is to take the left steel drum identification area as an example: the horizontal coordinate data or model coordinate data of the scanning point in the left steel drum identification area in step S20 is obtained, and the point with the smallest distance from the longitudinal center plane of the car is calculated as the concave pole Gln in the left steel drum identification area, and the corresponding horizontal coordinate is Glnx; Similarly, the concave extreme point Trn of the steel barrel recognition area on the right is obtained, and the corresponding horizontal coordinate is Trnx; The concave extreme point Gln in the steel drum identification area on the left, and the corresponding horizontal coordinate Glnx; The concave pole Grn of the steel barrel identification area on the right, and the corresponding horizontal coordinate Grnx.

[0022] S40, combined Figure 3-4, according to the positional relationship between the concave extreme points Tln and Gln, and the positional relationship between the concave extreme points Trn and Grn, determine the stacking position of the steel drum on the pallet; Step S40 includes: S41. Determine the stacking position of the first steel drum on the left pallet based on the positional relationship between the concave extreme points Tln and Gln on the left inner wall, including: Calculate the difference in the horizontal coordinates of the two concave poles, Glnx-Tlnx, and compare it with D / 2-d; When Glnx-Tlnx>D / 2-d, the left side of the steel drum on the first pallet is used as the reference to determine the stacking position of the steel drum on the left side. The left side of the steel drum contacts the concave extreme point Gln, and the horizontal coordinate of the left side of the steel drum is Glnx. At this time, the stacking horizontal coordinate of the left side of the pallet is Glnx-(D / 2-d). The size of the gap D1 between the left side of the first pallet and the left inner wall of the carriage is Glnx-(D / 2-d)-Tlnx. When Glnx-Tlnx≤D / 2-d, the stacking position of the steel drum on the left pallet is determined based on the left side of the first pallet. At this time, the left side of the first pallet contacts the concave extreme point Tln, and the stacking horizontal coordinate of the left side of the first pallet is Tlnx. At this time, the gap between the left side of the first pallet and the left inner wall of the carriage is 0. S42. Place the 1st, 2nd, ... kth pallets of steel drums on the right side of the first pallet on the left, and determine the horizontal coordinate of the right side of the kth pallet to be Glnx-(D / 2-d)+(k+1)D or Tlnx+(k+1)D, recorded as Tkx; S43. Determine the positional relationship between the horizontal coordinate Tkx of the right side of the k-th tray and the concave extreme point Trn of the right inner wall: When D<Trnx-Tkx<2D, it is determined that only one pallet can be stacked on the right side of the k-th pallet. At this time, the size of the gap D2 between the right side of the k+1-th pallet and the right inner wall is determined to be Trnx-Tkx-D; When D = Trnx-Tkx, it is determined that only one pallet can be stacked on the right side of the kth pallet, and the gap is 0.

[0023] S50, determining the gap Dx between the pallet and the side wall of the carriage, and the direction of the gap according to the stacking position of the steel drums on the pallet; Step S50 includes: S51. According to step S41, it is determined that the size of the gap D1 between the left side of the first pallet and the left inner wall of the carriage is Glnx-(D / 2-d)-Tlnx, or the gap between the left side of the first pallet and the left inner wall of the carriage is 0, and the direction is left; S53. According to step S43, it is determined that the size of the gap D2 between the right side of the k+1th tray and the right inner wall is Trnx-Tkx-D, or the gap between the right side of the k+1th tray and the right inner wall is 0, and the direction is right.

[0024] S60: After the pallet and steel drum to be loaded are aligned by the pallet-to-be-loaded drum straightening device, a pad (usually a rubber block or a plastic-rubber composite block) having a thickness equal to the gap Dx is selected based on the gap Dx determined in step S50 and installed on the side of the pallet corresponding to the direction of the gap determined in step S50; Step S60 includes selecting a spacer 3 with a thickness equal to the gap size according to the gap Dx and the direction of the gap obtained in step S50, and inserting the spacer 3 from the side into the side of the pallet in the same direction as the gap after the pallet correction device completes the correction.

[0025] like Figure 5 As shown, the side of the spacer 3 is inserted into the fork hole on the side of the pallet via an insert 31, and the upper portion of the spacer overlaps horizontally on the pallet, forming a cross-top 32. The cross-top 32 and the insert 31 clamp the edge of the pallet's upper panel. The cross-top also has concave curved surfaces 33 corresponding to the positions of the two steel drums, which abut against the bottom edges of the drums. The main structure of the spacer is designed with different horizontal widths (i.e., thicknesses) to accommodate different gap matching requirements. In practice, spacers are typically designed with several different specifications based on horizontal width, allowing selection based on different gap sizes. Figure 4 As shown, the spacers 3 on both sides have different thicknesses to meet the needs of filling the gap.

[0026] The side thickness of the spacer 3 (only the horizontal width, not the structure of the insert 31) corresponds to the gap Dx of the pallet to be stacked. When manually installing the spacer, the system sends the gap Dx and the direction of the gap to the handheld terminal, which then displays the spacer with the thickness corresponding to the gap Dx and the installation direction of the spacer directly on the handheld terminal. The operator can then select the spacer with the appropriate thickness based on the display and install it on the pallet. When using a robotic arm for installation, the equipment library delivers the pads corresponding to the thickness and gap Dx to the side of the pallet according to the instructions, and then the robotic arm grabs the pads and inserts them onto the pallet; If the conveying direction or manual installation direction of the pad is opposite to the installation direction of the pad, the pallet will be rotated 180 degrees by the rotary equipment and then stacked in the designated position by the loading system.

[0027] S70. The loading system stacks the pallet with the cushion blocks according to the stacking position determined in step S40, so that the cushion blocks are squeezed and limited by the inner wall of the carriage.

[0028] Step S70 includes conveying the palletized steel drum into the carriage by a conveyor roller, and then picking up the palletized steel drum by a gantry forklift and stacking it at a designated location.

[0029] Compared with the prior art, the advantages of the present invention are as follows: The present invention identifies the concave defect of the inner wall of the carriage, then designs a loading plan for the pallet steel drum to avoid the defective position, and determines the gap between the pallet and the side wall, so as to select suitable pads to be installed on the side of the pallet according to the gap. When the pallet is stacked in the carriage, the pads are supported between the pallet and the inner wall of the carriage, thereby effectively preventing the problem of the pallet moving; at the same time, the pads can also provide support for the side bottom of the steel drum, thereby limiting the steel drum and preventing the steel drum from colliding with the inner wall of the carriage after sideways movement.

[0030] 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 on pallets to prevent movement, characterized in that: include: S10, scanning defects on the inner walls of both sides of the carriage, and modeling the inner walls of the carriage based on the rectangular coordinate system of the carriage floor; S20. Each pallet and the four steel drums on it constitute a unit. Based on the loading and stacking positions, the edges of the pallet and the center axis of the steel drums of each unit are projected onto the inner walls of the carriage on both sides to form a pallet identification area and a steel drum identification area on the inner walls on both sides, respectively. S30, identifying the concave extreme points Tln and Trn in the pallet identification area, and identifying the concave extreme points Gln and Grn in the drum identification area; S40, determining the stacking position of the steel drum on the pallet according to the positional relationship between the concave extreme points Tln and Gln, and the positional relationship between the concave extreme points Trn and Grn; S50, determining the gap Dx between the pallet and the side wall of the carriage, and the direction of the gap according to the stacking position of the steel drums on the pallet; S60: After the pallet and steel drum to be loaded are aligned by the pallet-to-be-loaded steel drum correction device, a spacer with a thickness equal to the gap Dx is selected based on the gap Dx determined in step S50 and installed on the side of the pallet corresponding to the direction of the gap determined in step S50; S70. The loading system stacks the pallet with the cushion blocks according to the stacking position determined in step S40, so that the cushion blocks are squeezed and limited by the inner wall of the carriage.

2. The loading method according to claim 1, Step S10 includes: The inner wall of the cargo compartment is scanned by lidar, and the inner walls on the left and right sides of the cargo compartment are modeled based on the scanning data. Based on the bottom surface of the cargo compartment, an XYZ three-axis coordinate system is established, 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 bottom surface of the cargo compartment, and the Z-axis is the horizontal direction parallel to the bottom surface of the cargo compartment.

3. The loading method according to claim 2, In step S20, the length and width of the pallet are both D, and the height is H. The diameter of the steel drum is d, and the height is h. 2d<D. The steel drum is placed in the center of the pallet in a 2×2 pattern. The distance between the bottom of the steel drum and the edge of the pallet is D / 2-d. in, The pallet recognition area includes one pallet recognition area on each of the left and right compartments: a left pallet recognition area and a right pallet recognition area. The left pallet recognition area is formed by projecting the edge of the pallet onto the inner wall of the left compartment, and the right pallet recognition area is formed by projecting the edge of the pallet onto the inner wall of the right compartment. The steel drum recognition area includes one steel drum recognition area on each of the left and right carriages: the left steel drum recognition area and the right steel drum recognition area; the left steel drum recognition area is formed by the projection of the central axis of the steel drum onto the inner wall of the left carriage, and the right steel drum recognition area is formed by the projection of the central axis of the steel drum onto the inner wall of the right carriage.

4. The loading method according to claim 3, In step S30, the method for identifying each concave pole is to take the left steel drum identification area as an example: obtain the horizontal coordinate data or model coordinate data of the scanning point in the left steel drum identification area in step S20, and calculate the point with the smallest distance from the longitudinal center plane of the car as the concave pole Gln of the left steel drum identification area, and the corresponding horizontal coordinate is Glnx; Similarly, the concave extreme point Trn of the steel barrel recognition area on the right is obtained, and the corresponding horizontal coordinate is Trnx; The concave point Gln of the steel barrel identification area on the left, and the corresponding horizontal coordinate Glnx; The concave pole Grn of the steel barrel identification area on the right, and the corresponding horizontal coordinate Grnx.

5. The loading method according to claim 4, Step S40 includes: S41. Determine the stacking position of the first steel drum on the left pallet based on the positional relationship between the concave extreme points Tln and Gln on the left inner wall, including: Calculate the difference in the horizontal coordinates of the two concave poles, Glnx-Tlnx, and compare it with D / 2-d; When Glnx-Tlnx>D / 2-d, the stacking position of the steel drum on the first pallet on the left is determined based on the left side of the steel drum on the first pallet. The left side of the steel drum contacts the concave extreme point Gln, and the horizontal coordinate of the left side of the steel drum is Glnx. At this time, the stacking horizontal coordinate of the left side of the pallet is Glnx-(D / 2-d). When Glnx-Tlnx≤D / 2-d, the stacking position of the steel drum on the left pallet is determined based on the left side of the first pallet. At this time, the left side of the first pallet contacts the concave extreme point Tln, and the stacking horizontal coordinate of the left side of the first pallet is Tlnx. S42. Place the 1st, 2nd, ... kth pallets of steel drums on the right side of the first pallet on the left, and determine the horizontal coordinate of the right side of the kth pallet to be Glnx-(D / 2-d)+(k+1)D or Tlnx+(k+1)D, recorded as Tkx; S43. Determine the positional relationship between the horizontal coordinate Tkx of the right side of the k-th tray and the concave extreme point Trn of the right inner wall: When D<Trnx-Tkx<2D, it is determined that only one pallet can be stacked on the right side of the k-th pallet. At this time, the size of the gap D2 between the right side of the k+1-th pallet and the right inner wall is determined to be Trnx-Tkx-D; When D = Trnx-Tkx, it is determined that only one pallet can be stacked on the right side of the kth pallet, and the gap is 0.

6. The loading method according to claim 5, Step S50 includes: S51. According to step S41, it is determined that the size of the gap D1 between the left side of the first pallet and the left inner wall of the carriage is Glnx-(D / 2-d)-Tlnx, or the gap between the left side of the first pallet and the left inner wall of the carriage is 0, and the direction is left; S53. According to step S43, it is determined that the size of the gap D2 between the right side of the k+1th tray and the right inner wall is Trnx-Tkx-D, or the gap between the right side of the k+1th tray and the right inner wall is 0, and the direction is right.

7. The loading method according to claim 6, Step S60 includes selecting a spacer with a thickness equal to the gap size according to the gap Dx and the direction of the gap obtained in step S50, and inserting the spacer from the side into the side of the pallet in the same direction as the gap after the pallet correction device completes the correction.

8. The loading method according to claim 7, The side of the pad is inserted into the fork hole on the side of the pallet through the insert block, and the upper part of the pad is horizontally overlapped on the upper part of the pallet to form a cross top. The cross top and the insert block clamp the edge of the upper panel of the pallet; the cross top is also provided with a concave arc surface according to the position of the two steel drums, and the concave arc surface abuts against the bottom edge of the steel drum.

9. The loading method according to claim 8, The side thickness of the pad corresponds to the gap Dx at the location where the pallet is to be stacked. When manually installing the pad, the system sends the gap Dx and the direction of the gap to the handheld terminal, which then displays the pad with the thickness corresponding to the gap Dx and the installation direction of the pad. The operator can then select the pad with the appropriate thickness and install it on the pallet based on the display. When using a robotic arm for installation, the equipment library delivers the pads corresponding to the thickness and gap Dx to the side of the pallet according to the instructions, and then the robotic arm grabs the pads and inserts them onto the pallet; If the conveying direction or manual installation direction of the pad is opposite to the installation direction of the pad, the pallet will be rotated 180 degrees by the rotary equipment and then stacked in the designated position by the loading system.

10. The loading method according to claim 9, Step S70 includes conveying the palletized steel drum into the carriage by a conveyor roller, and then picking up the palletized steel drum by a gantry forklift and stacking it at a designated location.

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