Cold chain cargo unloading control method and system

Abstract

The application relates to the technical field of cold-chain cargo unloading, and discloses a cold-chain cargo unloading control method and system, which comprises a perception module, an evaluation module, a planning module and a control module; wherein: the perception module is used for identifying and positioning each piece of cargo in a container space and a stacking space, and collecting cargo parameters, container space parameters and stacking space parameters; the evaluation module is used for calculating the grabbing priority of the cargo in the container space and the stacking stability index of the stacking space; the planning module generates an optimal grabbing sequence of the cargo in the container space based on the grabbing priority, and feeds back and adjusts the generation of the optimal grabbing sequence based on the stacking stability index; and the control module controls the grabbing and unloading of the cargo in the container space by the truss and the cargo grabber based on the optimal grabbing sequence. The application realizes efficient and accurate operation and collision safety control of cold-chain container unloading.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cold-chain cargo unloading, and in particular to a cold-chain cargo unloading control method and system. BACKGROUND

[0002] The efficiency and safety of the cold-chain logistics unloading link have room for optimization. Traditional manual unloading has low efficiency in low-temperature environments, and it is difficult to avoid cargo damage caused by cargo collision. Existing automated solutions cannot adapt to the non-standardized stacking form of goods in cold-chain containers, and the movement of trusses and grabbers combined with the grabbing strategy lacks adaptability to dynamic environments. The grabbing sequence decision of randomly stacked goods lacks a theoretical model, and existing methods rely on fixed priority rules, which cannot adapt to dynamic changes in cargo form.

[0003] In addition, in existing solutions, unloading and stacking are operated separately, and there is no closed-loop feedback between unloading and stacking, which leads to problems such as smooth unloading but collapsed stacking. Because the stacking space and the cargo container grabbing end are not fed back in real time, the truss and the cargo grabber continue to grab large-size goods, which can easily cause fragmentation of the stacking area space, and the stacking efficiency and stability are insufficient.

[0004] A cargo loading and unloading method and system, device, and storage medium are disclosed in Chinese patent application No. CN115826580A. The method is applied to a cargo loading and unloading system, which includes a control device, a detection device, and an unmanned forklift. The method includes: the detection device detects vehicles in a predetermined parking area and sends the detection results to the control device; the control device generates a target instruction based on the detection results and sends the target instruction to the unmanned forklift, which is used to indicate a loading or unloading task; and the unmanned forklift responds to the target instruction and moves the cargo between the parking area and the cargo connection area to complete the loading or unloading task indicated by the target instruction. This technical solution can adapt to automatic loading and unloading operations under different conditions.

[0005] A unloading operation abnormality processing method disclosed in Chinese Patent Application No. CN119396132A is applied to a unloading operation control system. A remote control center sends a first movement instruction and a second movement instruction to a first robot and a second robot, respectively, to make the second robot move to a unloading initial position inside a work space. Whether the work space is abnormal is fed back by the second robot. If there is no abnormality, a telescopic conveyor or a telescopic drum conveying line is started. If there is an abnormality, a unloading task is sent to the second robot and a stacking task is sent to the first robot after corresponding processing according to the type of the abnormality. Thus, the abnormality in the unloading process can be processed in time, the unloading operation is ensured to proceed smoothly, the flexibility is high, the limitation of the arm span length of the robot itself and the work range of the mechanical arm is broken through, the goods in a narrow space are stacked and destacked, manual labor is replaced, automation is realized, and the loading efficiency is effectively improved.

[0006] The above prior art all have the problem proposed in the background art: the grabbing sequence of the goods cannot adapt to the dynamic change of the shape of the goods.

[0007] The information disclosed in this background section is only intended to increase an understanding of the general context in which the present application can be used and should not be taken as an acknowledgement or any form of suggestion that this information forms prior art that is already widely known in the art. SUMMARY

[0008] The technical problem to be solved by the present application is to overcome the defects of the prior art, provide a cold chain goods unloading control method and system, and realize efficient and accurate operation and collision safety control of cold chain container unloading.

[0009] To solve the above technical problems, the present application provides the following technical solutions:

[0010] In one aspect, the present application provides a cold chain goods unloading control system, comprising a perception module, an evaluation module, a planning module, and a control module; wherein:

[0011] The perception module is used to identify and locate each piece of goods in the container space and the stacking space, and collect the goods parameters, the container space parameters, and the stacking space parameters;

[0012] The evaluation module calculates the grabbing priority of the goods in the container space and the stacking stability index of the stacking space based on the goods parameters, the container space parameters, and the stacking space parameters;

[0013] The planning module generates an optimal grabbing sequence of the goods in the container space based on the grabbing priority, and adjusts the generation of the optimal grabbing sequence based on the stacking stability index;

[0014] The control module controls the gantry and the goods taking device to grasp and unload the goods in the container space based on the optimal grasping sequence.

[0015] As a preferred scheme of the cold-chain goods unloading control system, the perception module comprises a scanning unit and an identification unit.

[0016] The scanning unit is configured to perceive the container space and the stacking space, and to collect container space parameters and stacking space parameters. The scanning unit is configured with a laser radar array. The scanning unit constructs three-dimensional point cloud data of the container space and the stacking space respectively through the laser radar array, and calculates the container space parameters and the stacking space parameters based on the three-dimensional point cloud data. The container space parameters comprise three-dimensional dimensions and a spatial coordinate range of the container space. The stacking space parameters comprise three-dimensional dimensions and a spatial coordinate range of the stacking space.

[0017] The identification unit is configured to identify and locate each piece of goods in the container space and the stacking space, and to collect goods parameters of each piece of goods. The goods parameters comprise three-dimensional dimensions and a spatial coordinate range of each piece of goods.

[0018] As a preferred scheme of the cold-chain goods unloading control system, the evaluation module comprises a first evaluation unit. The first evaluation unit is configured with a priority evaluation strategy for calculating grasping priorities of the goods in the container space.

[0019] The priority evaluation strategy comprises identifying top-layer goods and calculating grasping priorities of the top-layer goods. The identification of the top-layer goods comprises: identifying whether the top of each piece of goods supports goods based on the three-dimensional point cloud data. The top of the top-layer goods does not support any goods.

[0020] The calculation of the grasping priorities of the top-layer goods comprises:

[0021] A basic priority is set for each piece of top-layer goods, denoted as .

[0022] For any piece of top-layer goods, a stability margin is calculated, and the basic priority is increased based on the stability margin to obtain a priority of the corresponding top-layer goods. The smaller the stability margin is, the greater the priority of the corresponding top-layer goods is. If the stability margin of any piece of top-layer goods is 0, the priority is adjusted to . The priority of any piece of top-layer goods is not greater than . is a preset stability threshold.

[0023] As a preferred scheme of the cold-chain goods unloading control system, the first evaluation unit calculates the stability margin of any piece of top-layer goods in the following manner:

[0024] extracting convex hull vertices of the lower contact surface of the top layer cargo;

[0025] constructing a support polygon of the top layer cargo based on the convex hull vertices; the support polygon is a convex polygon composed of the convex hull vertices;

[0026] calculating a projection coordinate of the centroid of the top layer cargo on the lower contact surface based on the three-dimensional size and the spatial coordinate range of the top layer cargo;

[0027] if the projection coordinate of the centroid on the lower contact surface is located outside the support polygon or on an edge of the support polygon, setting the stability margin of the top layer cargo to 0;

[0028] if the projection coordinate is located inside the support polygon, calculating the distance of the projection coordinate from each edge of the support polygon; the stability margin is the minimum value among the distances of the projection coordinate from each edge of the support polygon.

[0029] As a preferred scheme of the cold-chain cargo unloading control system described in the present application, wherein: the priority evaluation strategy further comprises identifying optional support cargo and calculating the grabbing priority of the optional support cargo; the identification of the optional support cargo specifically comprises: identifying whether the top of each cargo supports cargo based on the three-dimensional point cloud data; if there is common support cargo on the top of any cargo A and one or more cargos other than A, the common support cargo is marked as an upper layer cargo; the projection coordinate of the centroid of the upper layer cargo on the lower contact surface is calculated; if the projection coordinate of the upper layer cargo is not located on the top of cargo A, cargo A is an optional support cargo; the lower contact surface of the upper layer cargo is the contact surface between the top of cargo A and other cargos supporting the upper layer cargo and the upper layer cargo.

[0030] As a preferred scheme of the cold-chain cargo unloading control system described in the present application, wherein: the calculation of the grabbing priority of the optional support cargo specifically comprises:

[0031] setting a basic priority for each optional support cargo, denoted as ; the basic priority of any optional support cargo is less than the basic priority of the upper layer cargo ;

[0032] for any optional support cargo, calculating a stability influence factor and reducing the basic priority based on the stability influence factor to obtain the priority of the corresponding optional support cargo, and the greater the stability influence factor, the smaller the priority of the corresponding optional support cargo;

[0033] The first evaluation unit calculates the stability influence factor of any optional support goods in the following way: calculating the stability margin of the upper goods of the optional support goods; simulating the removal of the optional support goods and recalculating the stability margin of the upper goods; calculating the change of the stability margin of the upper goods after the removal of the optional support goods and normalizing the change to obtain the stability influence factor corresponding to the optional support goods.

[0034] As a preferred scheme of the cold-chain goods unloading control system described in the application, the evaluation module further comprises a second evaluation unit; the second evaluation unit is configured with a stability evaluation strategy for calculating a stacking stability index of the stacking space; the stability evaluation strategy specifically comprises:

[0035] identifying isolated voids in the stacking space; the isolated voids are connected regions surrounded by at least four contact surfaces in the stacking space, and the bottom area of the isolated voids is smaller than the average bottom area of the goods; the contact surfaces surrounding the isolated voids include the surfaces of the goods and the inner walls of the stacking space;

[0036] calculating the sum of the residual volume of the stacking space and the volume of the isolated voids in the stacking space; the residual volume is the total volume of the stacking space minus the total volume of the goods in the stacking space;

[0037] calculating the ratio of the sum of the volume of the isolated voids to the residual volume as the stacking stability index of the stacking space.

[0038] As a preferred scheme of the cold-chain goods unloading control system described in the application, the planning module comprises a first planning unit;

[0039] The first planning unit is configured with a sequence generation strategy for generating a grabbing sequence of the goods; the sequence generation strategy specifically comprises:

[0040] S100: initializing an empty grabbing sequence; setting a maximum sequence length; numbering each piece of goods;

[0041] S200: calculating the priority of each top-layer good and optional support good based on the first evaluation unit;

[0042] S300: randomly selecting a good from the m goods with the highest priority and adding the corresponding number to the end of the grabbing sequence;

[0043] S400: simulating the removal of the good whose number has been added to the end of the grabbing sequence;

[0044] S500: repeating S200-S400 until the length of the grabbing sequence is equal to the maximum sequence length.

[0045] As a preferred scheme of the cold-chain cargo unloading control system, the planning module further comprises a second planning unit and a third planning unit; the second planning unit is configured to filter the grabbing sequences and generate an optimal grabbing sequence, and specifically comprises:

[0046] The total length of the moving path of the grabber when sequentially grabbing the cargos in the container space according to the grabbing order recorded in each grabbing sequence is calculated; and the grabbing sequence corresponding to the shortest total length of the moving path is selected as the optimal grabbing sequence.

[0047] The third planning unit is configured with a grabbing adjustment strategy for feedback adjustment of the generation of the optimal grabbing sequence according to the palletizing stability index; the third planning unit is further configured with a palletizing stability threshold; if the palletizing stability index of the palletizing space is greater than the palletizing stability threshold, the grabbing adjustment strategy is triggered.

[0048] The grabbing adjustment strategy specifically comprises: calculating the bottom area of each isolated gap in the palletizing space as a reference bottom area.

[0049] The first evaluation unit is sent with an adjustment instruction, which specifically comprises: calculating the bottom area of each top-layer cargo and the optional supporting cargo; if the ratio of the bottom area of any top-layer cargo or the optional supporting cargo to the reference bottom area is greater than and less than 1, the priority of the corresponding cargo is increased.

[0050] In a second aspect, the application provides a cold-chain cargo unloading control method, comprising the following steps:

[0051] Each cargo in the container space and the palletizing space is identified and positioned, and cargo parameters, container space parameters and palletizing space parameters are collected.

[0052] The grabbing priority of the cargos in the container space and the palletizing stability index of the palletizing space are calculated based on the cargo parameters, the container space parameters and the palletizing space parameters.

[0053] An optimal grabbing sequence of the cargos in the container space is generated based on the grabbing priority, and the generation of the optimal grabbing sequence is feedback adjusted based on the palletizing stability index.

[0054] The cargos in the container space are grabbed and unloaded by the gantry and the grabber based on the optimal grabbing sequence.

[0055] Compared with the prior art, the application has the following beneficial effects:

[0056] The application generates an optimal grabbing sequence based on the identification of the physical stability of the goods, breaks through the limitations of traditional fixed priority rules, and improves the unloading efficiency in irregular stacking scenarios. Through real-time collision detection and path planning algorithms, the efficiency of unloading goods is improved, and the risk of collision is reduced.

[0057] The grabbing sequence is dynamically adjusted through real-time feedback of the stacking space, forming a two-way decision closed loop between the picking end and the stacking end, achieving a balance between space utilization and unloading safety, and solving the suboptimal problem of traditional one-way planning. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0059] Figure 1 The structure diagram of the cold chain goods unloading control system provided by the present application is shown in the figure;

[0060] Figure 2 The flowchart of the cold chain goods unloading control method provided by the present application is shown in the figure;

[0061] Figure 3 The schematic diagram of a grabbing sequence provided by the present application is shown in the figure;

[0062] Figure 4 The schematic diagram of a support polygon before the support goods are removed is shown in the figure;

[0063] Figure 5 The schematic diagram of a support polygon after the support goods are removed is shown in the figure. DETAILED DESCRIPTION

[0064] The technical solutions of the present application will be described in detail below through the drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application. In the case of no conflict, the technical features in the embodiments of the present application and the embodiments can be combined with each other.

[0065] Embodiment 1:

[0066] This embodiment introduces a cold chain goods unloading control system, which refers to Figure 1 The system includes a perception module, an evaluation module, a planning module, and a control module; wherein:

[0067] The perception module is used to identify and locate each piece of cargo in the container space and the stacking space, and collect cargo parameters, container space parameters, and stacking space parameters.

[0068] The perception module includes a scanning unit and an identification unit.

[0069] The scanning unit is used to perceive the container space and the stacking space, and collect container space parameters and stacking space parameters.

[0070] The container space is a stacking space for cargo to be unloaded, such as a container box, etc.; the stacking space is a space for temporarily storing the cargo after unloading from the container space, after intermediate operations such as centering, conveying, and labeling.

[0071] The scanning unit is configured with a laser radar array; the scanning unit constructs three-dimensional point cloud data of the container space and the stacking space through the laser radar array, respectively, and calculates container space parameters and stacking space parameters based on the three-dimensional point cloud data; the container space parameters include three-dimensional dimensions and spatial coordinate ranges of the container space; the stacking space parameters include three-dimensional dimensions and spatial coordinate ranges of the stacking space.

[0072] The identification unit is used to identify and locate each piece of cargo in the container space and the stacking space, and collect cargo parameters of each piece of cargo.

[0073] The identification unit is configured with a binocular camera and a trained YOLO model; the identification unit collects cargo images through the binocular camera, and identifies and segments each piece of cargo from the cargo images through the trained YOLO model; the binocular camera locates each piece of segmented cargo through an embedded binocular recognition algorithm; the identification unit extracts cargo parameters based on cargo images of each piece of segmented cargo; the cargo parameters include three-dimensional dimensions and spatial coordinate ranges of each piece of cargo.

[0074] Further, the embodiment preferably aligns the three-dimensional point cloud data obtained by the scanning unit with the cargo positions extracted by the identification unit in coordinates, so that sensor data of different sources are recorded and calculated in a unified coordinate system.

[0075] The evaluation module calculates the grabbing priority of the cargo in the container space and the stacking stability index of the stacking space based on the cargo parameters, the container space parameters, and the stacking space parameters.

[0076] The evaluation module includes a first evaluation unit and a second evaluation unit.

[0077] The first evaluation unit is configured with a priority evaluation strategy for calculating the grabbing priority of the goods in the container space; the priority evaluation strategy comprises identifying top-layer goods and calculating the grabbing priority of the top-layer goods; the identification of the top-layer goods comprises identifying whether the top of each piece of goods supports goods based on the three-dimensional point cloud data; the top of the top-layer goods does not support any goods;

[0078] The calculation of the grabbing priority of the top-layer goods specifically comprises:

[0079] A basic priority is set for each piece of top-layer goods, denoted as ;

[0080] For any piece of top-layer goods, a stability margin is calculated, and the basic priority is increased based on the stability margin , to obtain the priority of the corresponding top-layer goods, and the smaller the stability margin, the greater the priority of the corresponding top-layer goods; if the stability margin of any top-layer goods is 0, the priority is adjusted to ; the priority of any top-layer goods is not greater than , is a preset stability threshold.

[0081] The first evaluation unit calculates the stability margin of any piece of top-layer goods in the following manner:

[0082] Convex hull vertices of the lower contact surface of the top-layer goods are extracted; in this embodiment, the convex hull vertices of the lower contact surface of the top-layer goods are preferably extracted by Quickhull algorithm. The convex hull vertices represent the outermost contact points of the lower contact surface and the top-layer goods, i.e. the actual contact points of the lower contact surface and the top-layer goods, for determining the boundary range of the actual support area.

[0083] Based on the convex hull vertices, a support polygon of the top-layer goods is constructed; the support polygon is a convex polygon composed of the convex hull vertices; the support polygon encloses the effective support area.

[0084] Based on the three-dimensional dimensions and the spatial coordinate range of the top-layer goods, the projection coordinates of the centroid of the top-layer goods on the lower contact surface are calculated; in this embodiment, the center of gravity of any piece of goods is assumed to be uniformly distributed, and the center of gravity is the geometric center. The projection coordinates of the centroid on the lower contact surface are the coordinates of the centroid projected onto the lower contact surface along the direction of gravity.

[0085] If the projection coordinates of the centroid on the lower contact surface are located outside the support polygon or on the edges of the support polygon, the stability margin of the top-layer goods is set to 0;

[0086] If the projection coordinates are located inside the support polygon, the distances of the projection coordinates from each edge of the support polygon are calculated; the stability margin is the minimum value among the distances of the projection coordinates from each edge of the support polygon.

[0087] The embodiment evaluates the stacking stability of the goods by calculating the relationship between the centroid projection coordinate position and the support polygon. By calculating the relationship between the projection coordinate position of the centroid of the goods on the support surface and the boundary of the support polygon, a quantitative stability margin index is established. This strategy is based on the principle of static equilibrium and is applicable to the stability evaluation of goods of any shape. The smaller the stability margin, the less stable the stacking of the goods, which should be grasped and unloaded first to avoid the collapse of the goods.

[0088] The priority evaluation strategy also includes identifying optional support goods and calculating the grasping priority of the optional support goods. The identification of optional support goods specifically includes: identifying whether the top of each piece of goods supports goods based on the three-dimensional point cloud data; if there is a commonly supported good on the top of any good A and one or more goods other than A, the commonly supported good is marked as an upper layer good; the projection coordinates of the centroid of the upper layer good on the lower contact surface are calculated; if the projection coordinates of the upper layer good are not located on the top of good A, good A is an optional support good. The lower contact surface of the upper layer good is the contact surface between the top of good A and other goods supporting the upper layer good and the top of the upper layer good.

[0089] The calculation of the grasping priority of the optional support goods specifically includes:

[0090] A basic priority is set for each optional support good, denoted as The basic priority of any optional support good is less than the basic priority of the top layer good .

[0091] For any piece of optional support goods, a stability influence factor is calculated, and the basic priority is reduced based on the stability influence factor to obtain the priority of the corresponding optional support good, and the greater the stability influence factor, the smaller the priority of the corresponding optional support good.

[0092] The first evaluation unit calculates the stability influence factor of any piece of optional support goods as follows: the stability margin of the upper layer good of the optional support good is calculated; the optional support good is removed, and the stability margin of the upper layer good is recalculated; the change amount of the stability margin of the upper layer good after the removal of the optional support good is calculated and normalized to obtain the stability influence factor of the corresponding optional support good.

[0093] The optional support good and other goods commonly support the upper layer good. The greater the change amount of the stability margin of the upper layer good before and after the removal of the optional support good, the greater the influence of the removal of the optional support good on the stability of the upper layer good stacking.

[0094] Figure 4 andFigure 5 A schematic diagram of a support polygon of an optional support goods and its upper goods is provided. Referring to Figure 4 and Figure 5 , there is a common support goods on the top of goods A and goods B, that is, the upper goods of goods A and goods B; Figure 4 and Figure 5 The hollow circle in represents the projection coordinate position of the centroid of the upper goods, and the solid circle point represents the convex hull vertex of the contact surface of goods A, goods B and the upper goods; The dashed line between the convex hull vertices constitutes the support polygon of the upper goods. Since the projection coordinate of the centroid of the upper goods is located on goods B, goods A is an optional support goods. As shown in Figure 4 , Figure 5 The dashed line connecting the projection coordinate position and the support polygon represents the minimum distance between the projection coordinate position and the edge of the support polygon, and the length of the dashed line is the stability margin of the upper goods; Figure 4 Before goods A is removed, Figure 5 After goods A is removed, the minimum distance between the projection coordinate and the edge of the support polygon changes, that is, the stability margin changes.

[0095] The second evaluation unit is configured with a stability evaluation strategy for calculating a stacking stability index of the stacking space; the stability evaluation strategy specifically includes:

[0096] Identify the isolated gap in the stacking space; the isolated gap is a connected region surrounded by at least four contact surfaces in the stacking space, and the bottom area of the isolated gap is smaller than the average bottom area of the goods; The contact surface surrounding the isolated gap includes the surface of the goods and the inner wall of the stacking space;

[0097] Calculate the sum of the residual volume of the stacking space and the volume of the isolated gap in the stacking space; the residual volume is the total volume of the stacking space minus the total volume of the goods in the stacking space;

[0098] Calculate the ratio of the sum of the volume of the isolated gap to the residual volume as the stacking stability index of the stacking space.

[0099] The planning module generates an optimal grabbing sequence of the goods in the container space based on the grabbing priority, and feedback adjusts the generation of the optimal grabbing sequence based on the stacking stability index;

[0100] The planning module includes a first planning unit, a second planning unit and a third planning unit;

[0101] The first planning unit is configured with a sequence generation strategy for generating a grabbing sequence of the goods; the sequence generation strategy specifically includes:

[0102] S100: initialize an empty picking sequence; set the maximum sequence length; number each piece of goods;

[0103] S200: calculate the priority of each top-layer good and optional support good based on the first evaluation unit;

[0104] S300: randomly select a good from the m goods with the highest priority, and add the corresponding number to the end of the picking sequence;

[0105] S400: simulate the removal of the good whose number has been added to the end of the picking sequence;

[0106] S500: repeat S200-S400 until the length of the picking sequence equals the maximum sequence length.

[0107] A picking sequence provided by the embodiment is shown in Figure 3 . Figure 3 In the figure, the numbers in the good images represent their indices in the picking sequence.

[0108] The second planning unit is configured to filter the picking sequence and generate an optimal picking sequence, specifically including:

[0109] Calculate the total length of the movement path of the goods picker when the goods in the container space are sequentially picked according to the picking order recorded in each picking sequence; select the picking sequence corresponding to the shortest total length of the movement path as the optimal picking sequence.

[0110] The third planning unit is configured with a picking adjustment strategy for feedback adjustment of the generation of the optimal picking sequence according to the pallet stability index; the third planning unit is also configured with a pallet stability threshold; if the pallet stability index of the pallet space is greater than the pallet stability threshold, the picking adjustment strategy is triggered;

[0111] The picking adjustment strategy specifically includes: calculating the bottom area of each isolated gap in the pallet space as a reference bottom area;

[0112] Sending an adjustment instruction to the first evaluation unit specifically includes: calculating the bottom area of each top-layer good and optional support good; if the ratio of the bottom area of any top-layer good or optional support good to the reference bottom area is greater than and less than 1, the priority of the corresponding good is increased. For example, the priority is set to 0.9 times The embodiment preferably is 0.8. When there is a large proportion of isolated gaps in the stacking space, it has an adverse effect on the stability of subsequent stacking of goods, so this embodiment prioritizes the grabbing of goods that can fill isolated gaps to fill the isolated gaps, thereby ensuring the stability of subsequent stacking. By identifying the stability characteristics of the stacking space, adjustment instructions are generated for the grabbing end, and the control logic of the two physically isolated links is coupled.

[0113] The control module controls the gantry and the goods grabber to grab and unload the goods in the container space based on the optimal grabbing sequence.

[0114] The control module includes a control instruction unit and a safety control unit.

[0115] The control instruction unit generates control instructions for the gantry and the goods grabber based on the optimal grabbing sequence; the control instructions include movement instructions for the gantry and grabbing instructions for the goods grabber; the movement instructions are used to control the movement of the gantry, so that the gantry drives the goods grabber to move to the center position of the first goods in the optimal grabbing sequence; the grabbing instructions are used to control the goods grabber to grab the goods when the grabber moves to the center position of the goods; after the grabber completes the grabbing of the goods, the number of the goods is removed from the optimal grabbing sequence;

[0116] The safety control unit is used to detect the collision risk of the gantry and the goods grabber; the safety control unit is configured with a range finder, such as a laser radar; during the movement of the gantry and the goods grabber, the safety control unit measures the distance between the gantry and the goods grabber and the inner wall of the container space in real time; if the distance between the gantry or the goods grabber and the inner wall of the container space is less than a preset safety distance, there is a collision risk;

[0117] If it is detected that the gantry or the goods grabber has a collision risk with the container space, the safety control unit locally modifies the control instructions; specifically including: controlling the gantry to stop moving; taking the current position of the goods grabber as the starting point and the center position of the first goods in the optimal grabbing sequence as the ending point, path planning is performed on the gantry and the goods grabber to generate a collision-free movement path, and a movement instruction for the gantry is generated based on the collision-free movement path.

[0118] The present application dynamically generates a grabbing sequence according to the stacking position and size of the goods through heuristic goods grabbing logic, and can flexibly adapt to various cold chain logistics unloading scenarios.

[0119] Embodiment 2

[0120] This embodiment is the second embodiment of the present application; based on the same inventive concept as embodiment 1, refer to Figure 2 , this embodiment introduces a cold chain goods unloading control method, including the following steps:

[0121] Identify and locate each piece of goods in the container space and the stacking space, and collect the goods parameters, the container space parameters, and the stacking space parameters; specifically including collecting the three-dimensional dimensions and the space coordinate range of the container space, the stacking space, and the goods.

[0122] Calculate the grabbing priority of the goods in the container space and the stacking stability index of the stacking space based on the goods parameters, the container space parameters, and the stacking space parameters; the grabbing priority of the top layer goods is set based on the stability margin thereof; the grabbing priority of the optional support goods is set based on the stability margin of the upper layer goods.

[0123] Generate the optimal grabbing sequence of the goods in the container space based on the grabbing priority, and feedback adjust the generation of the optimal grabbing sequence based on the stacking stability index; the stacking stability index is calculated by the total volume of the isolated gap of the stacking space.

[0124] Control the grabbing and unloading of the goods in the container space by the gantry and the goods taker based on the optimal grabbing sequence. In the moving process of the gantry and the goods taker, the collision risk is detected in real time, and if there is a collision risk, the path planning is performed on the gantry and the goods taker to generate a collision risk-free moving path.

[0125] The specific implementation of the above method refers to the related content of the cold chain goods unloading control system described in Embodiment 1, and is not described here.

[0126] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0127] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative and not limiting. Those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose and the scope of protection of the present application, and these are all within the protection of the present application.

Claims

1. A cold chain cargo offload control system, characterized by: The system comprises a perception module, an evaluation module, a planning module, and a control module. The perception module is configured to identify and locate each piece of cargo in the container space and the stacking space, and to collect cargo parameters, container space parameters, and stacking space parameters. The perception module comprises a scanning unit and an identification unit. The scanning unit is configured to perceive the container space and the stacking space, and to collect container space parameters and stacking space parameters. The scanning unit is configured with a laser radar array. The scanning unit constructs three-dimensional point cloud data of the container space and the stacking space based on the laser radar array, and calculates container space parameters and stacking space parameters based on the three-dimensional point cloud data. The container space parameters include three-dimensional dimensions and spatial coordinate ranges of the container space. The stacking space parameters include three-dimensional dimensions and spatial coordinate ranges of the stacking space. The identification unit is configured to identify and locate each piece of cargo in the container space and the stacking space, and to collect cargo parameters of each piece of cargo. Setting a base priority for each top-level item, denoted as ; For any piece of top-level cargo, a stability margin is calculated, and the base priority is increased based on the stability margin , to obtain the priority of the corresponding top-level cargo, and the smaller the stability margin, the greater the priority of the corresponding top-level cargo; if the stability margin of any top-level cargo is 0, the priority is adjusted to ; the priority of any top-level cargo is not greater than , is a preset stability threshold value; The evaluation module calculates the grabbing priority of the cargo in the container space and the stacking stability index of the stacking space based on the cargo parameters, the container space parameters, and the stacking space parameters. The evaluation module comprises a first evaluation unit. The first evaluation unit is configured with a priority evaluation strategy to calculate the grabbing priority of the cargo in the container space. The priority evaluation strategy comprises identifying top-layer cargo and calculating the grabbing priority of the top-layer cargo. The identification of top-layer cargo comprises identifying whether the top of each piece of cargo supports other cargo based on the three-dimensional point cloud data. The calculation of the grabbing priority of the top-layer cargo comprises the following steps: The first evaluation unit calculates the stability margin of any piece of top-layer cargo as follows: Extract the convex hull vertex of the lower contact surface of the top-layer cargo. Based on the convex hull vertex, construct a support polygon of the top-layer cargo. The support polygon is a convex polygon composed of convex hull vertices. Calculate the projection coordinates of the centroid of the top-layer cargo on the lower contact surface. If the projection coordinates of the centroid on the lower contact surface are located outside the support polygon or on the edge of the support polygon, set the stability margin of the top-layer cargo to 0. If the projection coordinates are located inside the support polygon, calculate the distance between the projection coordinates and each edge of the support polygon. The stability margin is the minimum value of the distances between the projection coordinates and each edge of the support polygon. The priority evaluation strategy further comprises identifying optional support goods and calculating the grabbing priority of the optional support goods; the identification of the optional support goods specifically comprises: identifying whether the top of each good supports goods based on the three-dimensional point cloud data; if there are common supported goods on the top of any good A and one or more goods other than good A, the common supported goods are marked as upper goods; the projection coordinates of the centroid of the upper goods on the lower contact surface are calculated; if the projection coordinates of the upper goods are not located on the top of good A, good A is an optional support good; the lower contact surface of the upper goods is the contact surface between the top of good A and other goods supporting the upper goods and the upper goods; The planning module generates an optimal grabbing sequence of the goods in the container space based on the grabbing priority, and adjusts the generation of the optimal grabbing sequence based on the stacking stability index; The control module controls the gantry and the goods taking device to grab and unload the goods in the container space based on the optimal grabbing sequence.

2. The cold-chain cargo offload control system of claim 1, wherein: The calculation of the grabbing priority of the optional support goods specifically comprises: setting a base priority for each optional support item, denoted as ; the base priority of any optional support item less than the base priority of the top item ; For any optional supportable item, a stability impact factor is calculated and the base priority is reduced based on the stability impact factor to obtain a priority of the optional supportable item, and the greater the stability impact factor, the smaller the priority of the optional supportable item; The first evaluation unit calculates the stability influence factor of any optional support good as follows: calculating the stability margin of the upper goods of the optional support goods; simulating the removal of the optional support goods and recalculating the stability margin of the upper goods; calculating the change in the stability margin of the upper goods after the removal of the optional support goods and normalizing the change to obtain the stability influence factor corresponding to the optional support goods.

3. The cold-chain cargo offload control system of claim 2, wherein: The evaluation module further comprises a second evaluation unit; the second evaluation unit is configured with a stability evaluation strategy for calculating a stacking stability index of the stacking space; the stability evaluation strategy specifically comprises: identifying isolated voids in the stacking space; the isolated voids are connected regions surrounded by at least four contact surfaces in the stacking space, and the bottom area of the isolated voids is smaller than the average bottom area of the goods; the contact surfaces surrounding the isolated voids include the surfaces of the goods and the inner walls of the stacking space; calculating the sum of the remaining volume of the stacking space and the volume of the isolated voids in the stacking space; the remaining volume is the total volume of the stacking space minus the total volume of the goods in the stacking space; calculating the ratio of the sum of the volume of the isolated voids to the remaining volume as the stacking stability index of the stacking space.

4. The cold-chain cargo offload control system of claim 3, wherein: The planning module comprises a first planning unit; The first planning unit is configured with a sequence generation strategy for generating a grabbing sequence of the goods; the sequence generation strategy specifically comprises: S100: initialize an empty grabbing sequence; set a maximum sequence length; number each good; S200: calculate the priority of each top good and optional support good based on the first evaluation unit; S300: randomly select a good from the m goods with the highest priority and add the corresponding number to the end of the grabbing sequence; S400: simulate the removal of the good whose number has been added to the end of the grabbing sequence; S500: repeat S200-S400 until the length of the grabbing sequence equals the maximum sequence length.

5. The cold-chain cargo offload control system of claim 4, wherein: The planning module further comprises a second planning unit and a third planning unit; the second planning unit is configured to filter the grabbing sequences and generate an optimal grabbing sequence, specifically including: calculating the total length of the moving path of the grabber when the goods in the container space are sequentially grabbed according to the grabbing order recorded in each grabbing sequence; and selecting the grabbing sequence corresponding to the shortest total length of the moving path as the optimal grabbing sequence; The third planning unit is configured with a grabbing adjustment strategy for feedback adjustment of the generation of the optimal grabbing sequence according to the stacking stability index; the third planning unit is further configured with a stacking stability threshold; if the stacking stability index of the stacking space is greater than the stacking stability threshold, the grabbing adjustment strategy is triggered; The grabbing adjustment strategy specifically includes: calculating the bottom area of each isolated gap in the stacking space as a reference bottom area; Sending adjustment instructions to the first evaluation unit specifically includes: calculating the base area of ​​each top-level cargo and optional support cargo; if the ratio of the base area of ​​any top-level cargo or optional support cargo to the reference base area is greater than... If the value is less than 1, the priority of the corresponding goods is increased.

6. A cold chain cargo unloading control method implemented based on the cold chain cargo unloading control system of any one of claims 1-5, characterized in that: The method comprises the following steps: identifying and positioning each piece of goods in the container space and the stacking space, and collecting the goods parameters, the container space parameters and the stacking space parameters; calculating the grabbing priority of the goods in the container space and the stacking stability index of the stacking space based on the goods parameters, the container space parameters and the stacking space parameters; generating an optimal grabbing sequence of the goods in the container space based on the grabbing priority, and feedback adjusting the generation of the optimal grabbing sequence based on the stacking stability index; controlling the gantry and the grabber to grab and unload the goods in the container space based on the optimal grabbing sequence.

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