Multi-layer steel coil center positioning method based on dynamic triangle geometrical relationship
The multi-layer steel coil center positioning method, which utilizes dynamic triangular geometric relationships and visual feedback self-learning, solves the problems of manual dependence and positioning deviation in traditional methods. It achieves accurate positioning and stable stacking of non-uniform diameter steel coils, thereby improving the safety and efficiency of unmanned systems.
Patent Information
- Application Number
- CN202511448525.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-11
- Publication Date
- 2025-11-28
AI Technical Summary
Traditional steel coil stacking methods rely on human experience, resulting in insufficient stability of non-uniform diameter steel coil stacking. Furthermore, the simplification of existing geometric models leads to positioning deviations, affecting the reliability and safety of unmanned systems.
A multi-layer steel coil center positioning method based on dynamic triangular geometric relationships is adopted. By constructing triangular spatial geometric relationships and combining visual feedback and self-learning correction, the precise positioning and stacking stability analysis of non-uniform diameter steel coils are achieved.
It enables precise positioning of non-uniform diameter steel coils in multi-layer stacking, improves the safety and reliability of unmanned systems, reduces reliance on human experience, and ensures stacking stability and calculation speed.
Smart Images
Figure CN121020084A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of steel logistics and storage, in particular to a multi-layer steel coil center positioning method based on dynamic triangle geometric relationship. BACKGROUND
[0002] In the steel industry, the automatic and efficient stacking of steel coils is the key to improving the utilization rate of storage space and logistics efficiency. However, the traditional steel coil stacking method has two major defects.
[0003] Serious dependence on manual experience: When the diameters of the bottom layer steel coils differ, the placement position of the upper layer steel coils is highly dependent on the experience estimation of the operator, which can easily lead to insufficient stability of the entire stack and pose a safety hazard; Over-simplified geometric model: Existing technologies usually assume that the diameters of the steel coils are consistent, and use geometric calculation formulas based on this assumption, ignoring the geometric changes caused by diameter differences, resulting in significant deviations in the calculated positions of the upper layer coils, increasing the risk of steel coil sliding, and severely restricting the reliability and safety of unmanned systems. SUMMARY
[0004] To address the deficiencies of the prior art, the present application provides a multi-layer steel coil center positioning method based on dynamic triangle geometric relationship, which solves the problems raised in the background art.
[0005] To achieve the above purpose, the present application realizes the following technical scheme: a multi-layer steel coil center positioning method based on dynamic triangle geometric relationship, comprising the following steps: Step 1: Work order generation: the steel coil unmanned warehouse management system responds to the work instruction and calls the work order processing module to generate a work order; Step 2: Multi-layer stacking condition judgment and data verification: the work order processing module judges whether the target saddle position meets the multi-layer stacking condition, specifically verifies whether the height difference of the lower layer steel coils under the saddle is within the preset tolerance range; if the verification is passed, the multi-layer steel coil stacking algorithm is called, and the key parameters of the lower two coils of the saddle position are passed into the algorithm; Step 3: Coordinate calculation based on dynamic triangle geometric relationship: the multi-layer steel coil stacking algorithm confirms that the current number of target saddles is greater than or equal to 2, and then executes the algorithm function: taking the geometric center points of the lower two coils as the base points, combining the steel coil diameter, the preset stacking rule, and the dynamic triangle geometric relationship model, the center point coordinates (X value, Z value) of the upper layer steel coil to be placed are calculated; Step 4: Stacking stability simulation and strategy adjustment: After calculating the preliminary coordinates of the upper layer steel coil, the system performs a stacking stability simulation analysis based on these coordinates. If the analysis results indicate a risk of overturning, the system will automatically adjust the stacking strategy or issue an early warning. Step 5: Coordinate Data Return: The multi-layer stacking algorithm returns the final determined steel coil coordinates to the work order processing module; Step 6: Generating executable work orders: The work order processing module integrates the received steel coil coordinates into the work order data to generate executable work orders containing precise location information; Step 7, Visual Feedback and Self-Learning Correction: The system controls the unmanned vehicle to execute the work order. After the steel coils are stacked, the system acquires the actual stacking image through the visual sensing system and compares it with the calculated theoretical coordinates. If the deviation exceeds the tolerance, it is automatically recorded and used for self-learning correction of subsequent algorithm parameters.
[0006] According to the above technical solution, the specific process of calculating the multi-layer code-building algorithm in step three is as follows: (1) Input the geometric parameters of the steel coil into the multi-layer steel coil stacking function, including the outer diameter of the two lower coils and the upper coil to be placed. , , Saddle height coordinates coordinates of the lower layer steel coil , ; (2) Calculate the radius of each steel coil. Calculate the height difference and determine its direction based on the height coordinates of the two lower steel coils; (3) If the centers of the two lower coils are not at the same height, proceed to steps (4)-(8) to calculate the center C of the upper coil; if the centers of the two lower coils are at the same height, proceed to step (9) to calculate the center C of the upper coil, and then proceed to step A of the center of the lower left coil. Right side steel coil core B With the upper steel coil core C Construct triangle ABC; (4) Calculate the distance between the two lower-layer steel coil cores in the direction of the trolley. With height difference The distance between the centers of the left and right steel coils in the lower layer was obtained using the Pythagorean theorem. That is, the length of AB; (5) Calculate angle ∠CAB using the Law of Cosines
[0007] in, ; (6) Calculate the angle q between the center AB of the two lower steel coils and the horizontal line (i.e., the pitch angle of vector AB).
[0008] (9) According to the height difference direction determination logic, if the left side is high , that is, the angle between vector AC and the horizontal line , if the right side is high , that is, the angle between vector AC and the horizontal line ; (10) The distance from the center of the lower left coil to the center of the upper coil, that is, the length of vector AC , and the angle h, are decomposed to obtain the horizontal and vertical components of AC
[0009]
[0010] Further, the coordinates of the center C of the upper coil are calculated as
[0011]
[0012] (9) When it is determined that the centers of the two lower coils are at the same height, that is, the point C is located on the perpendicular line of AB, the height H of triangle ABC can be calculated by the Pythagorean theorem
[0013] Then the coordinates of the center C of the upper coil are
[0014]
[0015] (10) For three layers of coils, repeat steps (1) to (9) to calculate the coordinates of the centers of the left and right coils of the second layer, and substitute them into the algorithm to solve the coordinates of the third layer.
[0016] According to the above technical solution, the method is suitable for three or more layers of coil stacking, and the calculated coil of the lower layer is regarded as a new reference, and the algorithm process is recursively called to calculate the center coordinates of the higher layer coil layer by layer.
[0017] According to the above technical solution, in step two, before passing in the key parameters, the system performs real-time data detection and calibration mechanism, detects the actual diameter and height data of the lower coil in real time, and if the deviation between the detected value and the recorded value in the warehouse management system exceeds the preset threshold, the data calibration mechanism is triggered to update the work order parameters with the detected value and record the log.
[0018] According to the technical scheme, the stacking stability simulation analysis in the step four includes at least one of the following modes: a barycenter-based stability criterion calculation, a support surface contact point analysis, and a finite element statics simulation.
[0019] According to the technical scheme, the visual sensing system in the step seven is a binocular camera or a laser scanner, and deviation detection of the actual stacking position and the theoretical coordinate is achieved through point cloud registration and deviation detection technology.
[0020] According to the technical scheme, the steel coil stacking strategy is column stacking, and the Y coordinates of all layers of steel coils on the same saddle column remain unchanged.
[0021] The application provides a multi-layer steel coil center positioning method based on dynamic triangle geometric relationship. (1) The application uses an accurate mathematical model based on dynamic triangle geometric relationship for calculation, fully considers complex working conditions such as diameter difference and center height inequality of lower steel coils, breaks through the limitation of traditional methods requiring equal diameter of steel coils, and can realize accurate positioning of the center of non-equal-diameter steel coils in multi-layer stacking, thereby fundamentally solving the positioning deviation problem caused by excessive simplification of the model.
[0022] (2) The application integrates stacking stability simulation analysis and real-time data calibration mechanism on the basis of core geometric calculation, the system can automatically predict the stacking stability and check the data reliability before execution, effectively avoids the risk of steel coil sliding caused by inaccurate estimation, distorted data or unstable structure, significantly improves the safety and reliability of unmanned operation, and reduces the dependence on external manual experience.
[0023] (3) The application realizes a full-process closed-loop design of "calculation-execution-visual detection-feedback correction", the system can not only complete the one-time positioning task, but also continuously learn and optimize parameters by comparing the deviation between the theoretical value and the actual value in long-term operation, thereby adapting to changes in the on-site environment and maintaining high-precision operation level in the long term.
[0024] (4) The application simplifies the three-dimensional space problem to a two-dimensional plane geometric problem, and realizes coordinate calculation of any multi-layer steel coil through recursive calling of the same algorithm model, the algorithm logic is clear and unified, the calculation speed is fast, and the judgment and processing speed of three-layer and more steel coils is greatly improved, thereby providing core algorithm support for operation scheduling and running efficiency of the entire unmanned warehouse system. BRIEF DESCRIPTION OF DRAWINGS
[0025] Fig. 1 It is a center positioning method flowchart of the application; Fig. 2 It is a multi-layer stacking algorithm calculation flowchart of the application; Fig. 3 A schematic view of a multi-layer steel coil. DETAILED DESCRIPTION
[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.
[0027] Please refer to Figs. 1-3 An embodiment of the present application is a multi-layer steel coil center positioning method based on dynamic triangle geometric relationship, comprising the following steps: Step one, work order generation: the steel coil unmanned warehouse pipe system responds to the operation instruction, calls the work order processing module to generate the operation work order; Step two, multi-layer stacking condition judgment and data verification: the work order processing module judges whether the target saddle position meets the multi-layer stacking condition, specifically verifies whether the height difference of the lower layer steel coil under the current saddle is within the preset allowable range; if the verification is passed, the multi-layer steel coil stacking algorithm is called, and the key parameters of the lower two coils of the saddle position are transmitted into the algorithm; Step three, coordinate calculation based on dynamic triangle geometric relationship: the multi-layer steel coil stacking algorithm confirms that the current layer number of the target saddle is greater than or equal to 2, and then executes the algorithm function: taking the geometric center points of the lower two coils as the base points, combining the steel coil diameter, the preset stacking rule and the dynamic triangle geometric relationship model, the center point coordinates (X value, Z value) of the upper layer steel coil to be placed are calculated; Step four, stacking stability simulation and strategy adjustment: after the preliminary coordinates of the upper layer steel coil are calculated, the system performs stacking stability simulation analysis based on the coordinates, and if the analysis result exists overturning risk, the stacking strategy is automatically adjusted or a warning prompt is issued; Step five, coordinate data return: the multi-layer stacking algorithm returns the finally determined steel coil coordinates to the work order processing module; Step six, executable work order generation: the work order processing module integrates the received steel coil coordinates into the work order data to generate an executable operation work order containing accurate position information; Step seven, visual feedback and self-learning correction: the system controls the unmanned vehicle to execute the operation work order, after completing the steel coil stacking, collects the actual stacking image through the visual sensing system, and compares it with the calculated theoretical coordinates, if the deviation exceeds the tolerance, it is automatically recorded and used for self-learning correction of subsequent algorithm parameters.
[0028] By integrating geometric calculations, stability assessments, and feedback corrections into a complete automated process, it fundamentally replaces the traditional method that relies on human experience, achieving fully unmanned and intelligent operation of multi-layer steel coil stacking, and significantly improving positioning accuracy, operational efficiency, and stacking safety.
[0029] The specific process of the multi-layer stacking algorithm calculation in step three is as follows: (1) Input the geometric parameters of the steel coil into the multi-layer steel coil stacking function, including the outer diameter of the two lower coils and the upper coil to be placed. , , Saddle height coordinates coordinates of the lower layer steel coil , ; (2) Calculate the radius of each steel coil. Calculate the height difference and determine its direction based on the height coordinates of the two lower steel coils; (3) If the centers of the two lower coils are not at the same height, proceed to steps (4)-(8) to calculate the center C of the upper coil; if the centers of the two lower coils are at the same height, proceed to step (9) to calculate the center C of the upper coil, and then proceed to step A of the center of the lower left coil. Right side steel coil core B With the upper steel coil core C Construct triangle ABC; (4) Calculate the distance between the two lower-layer steel coil cores in the direction of the trolley. With height difference The distance between the centers of the left and right steel coils in the lower layer was obtained using the Pythagorean theorem. That is, the length of AB; (5) Calculate angle ∠CAB using the Law of Cosines
[0030] in, ; (6) Calculate the angle q between the center AB of the two lower steel coils and the horizontal line (i.e., the pitch angle of vector AB).
[0031] (11) Determine the logic based on the direction of the height difference. If the left side is higher... That is, the angle between vector AC and the horizontal line. If the right side is higher That is, the angle between vector AC and the horizontal line. ; (12) The distance from the center of the lower left steel coil to the center of the upper steel coil is the length of vector AC. And the included angle h, decomposed to obtain the horizontal and vertical components of AC.
[0032]
[0033] Further calculate the coordinates of the upper coil center C as
[0034]
[0035] (9) When judging that the centers of the lower two coils are at the same height, that is, the C point is located on the perpendicular line of AB, the height H of triangle ABC can be calculated by the Pythagorean theorem
[0036] Then the coordinates of the upper coil center C are
[0037]
[0038] (10) For three layers of coils, repeat steps (1) to (9) to calculate the coordinates of the second layer left and right coil centers, and substitute them into the algorithm to solve the third layer coordinates.
[0039] By constructing a dynamic triangle and accurately solving its geometric relationship, the complex working conditions of unequal diameter and unequal height of the lower layer of steel coils can be accurately processed, and the core positioning problem of non-equal-diameter steel coil multi-layer stacking is solved, ensuring the accuracy of the calculation results.
[0040] The method is suitable for three or more layers of steel coil stacking, and through recursive calculation and layer-by-layer positioning, the lower layer of steel coils calculated is regarded as a new reference, and the algorithm process is recursively called to calculate the center coordinates of the higher layer of steel coils.
[0041] By recursively calling the same algorithm, the method achieves high scalability, making it simple, unified and reliable to calculate any multi-layer stacking of three or more layers, greatly enhancing the universality and application range of the method.
[0042] In step two, before passing in the key parameters, the system performs real-time data detection and calibration mechanism, real-time detects the actual diameter and height data of the lower layer of steel coils, if the deviation between the detected value and the recorded value in the warehouse management system exceeds the preset threshold, the data calibration mechanism is triggered, the work order parameters are updated with the detected value and the log is recorded.
[0043] By introducing a data verification link before calculation, the initial data deviation caused by steel coil deformation, measurement error or database recording error is effectively eliminated, and the robustness of the algorithm and the reliability of the final positioning result are improved from the source.
[0044] The stacking stability simulation analysis in the step four includes at least one of the following: calculation of stability criterion based on barycenter, analysis of support surface contact points, finite element statics simulation.
[0045] The transition from "can be placed" to "can be placed stably" is realized, and potential overturning risks are actively prevented, thereby greatly improving the safety and reliability of the unmanned warehouse system.
[0046] The visual sensing system in the step seven is a binocular camera or a laser scanner, and deviation detection between the actual stacking position and the theoretical coordinates is realized through point cloud registration and deviation detection technology.
[0047] A closed-loop control of "calculation-execution-detection-correction" is formed, so that the system has the ability of online learning and continuous optimization, and can continuously adapt to the actual environment (such as saddle wear and driving accuracy change), thereby maintaining a high-precision operation level for a long time.
[0048] The steel coil stacking strategy is column stacking, and the Y coordinates of all layers of steel coils on the same column remain unchanged.
[0049] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.
Claims
1. A method for center positioning of multi-layer steel coils based on dynamic triangular geometric relationships, characterized in that, Includes the following steps: Step 1: Work Order Generation: The unmanned steel coil warehouse management system responds to the work instruction and calls the work order processing module to generate a work order; Step 2, Multi-layer stacking condition determination and data verification: The work order processing module determines whether the target saddle position meets the multi-layer stacking condition, specifically verifying whether the height difference of the lower layer steel coils of the current saddle is within the preset tolerance range; if the verification passes, the multi-layer steel coil stacking algorithm is called, and the key parameters of the two lower layer coils at the saddle position are passed into the algorithm. Step 3: Coordinate calculation based on dynamic triangle geometric relationship: The multi-layer steel coil stacking algorithm confirms that the current number of layers of the target saddle is ≥2, and then executes the algorithm function: taking the geometric center point of the two lower coils as the base point, combined with the steel coil diameter, preset stacking rules and dynamic triangle geometric relationship model, calculates the center point coordinates (X value, Z value) of the upper layer steel coil to be placed. Step 4: Stacking stability simulation and strategy adjustment: After calculating the preliminary coordinates of the upper layer steel coil, the system performs a stacking stability simulation analysis based on these coordinates. If the analysis results indicate a risk of overturning, the system will automatically adjust the stacking strategy or issue an early warning. Step 5: Coordinate Data Return: The multi-layer stacking algorithm returns the final determined steel coil coordinates to the work order processing module; Step 6: Generating executable work orders: The work order processing module integrates the received steel coil coordinates into the work order data to generate executable work orders containing precise location information; Step 7, Visual Feedback and Self-Learning Correction: The system controls the unmanned vehicle to execute the work order. After the steel coils are stacked, the system acquires the actual stacking image through the visual sensing system and compares it with the calculated theoretical coordinates. If the deviation exceeds the tolerance, it is automatically recorded and used for self-learning correction of subsequent algorithm parameters.
2. The method for center positioning of multi-layer steel coils based on dynamic triangular geometric relationships according to claim 1, characterized in that: The specific process of the multi-layer stacking algorithm calculation in step three is as follows: (1) Input the geometric parameters of the steel coil into the multi-layer steel coil stacking function, including the outer diameter of the two lower coils and the upper coil to be placed. , , Saddle height coordinates coordinates of the lower layer steel coil , ; (2) Calculate the radius of each steel coil. Calculate the height difference and determine its direction based on the height coordinates of the two lower steel coils; (3) If the centers of the two lower coils are not at the same height, proceed to steps (4)-(8) to calculate the center C of the upper coil; if the centers of the two lower coils are at the same height, proceed to step (9) to calculate the center C of the upper coil, and then proceed to step A of the center of the lower left coil. Right side steel coil core B With the upper steel coil core C Construct triangle ABC; (4) Calculate the distance between the two lower-layer steel coil cores in the direction of the trolley. With height difference The distance between the centers of the left and right steel coils in the lower layer was obtained using the Pythagorean theorem. That is, the length of AB; (5) Calculate angle ∠CAB using the Law of Cosines in, ; (6) Calculate the angle q between the center AB of the two lower steel coils and the horizontal line (i.e., the pitch angle of vector AB). (7) Determine the logic based on the direction of the height difference. If the left side is higher... That is, the angle between vector AC and the horizontal line. If the right side is higher That is, the angle between vector AC and the horizontal line. ; (8) The distance from the center of the lower left steel coil to the center of the upper steel coil, i.e., the length of vector AC. And the included angle h, decomposed to obtain the horizontal and vertical components of AC. Then, the coordinates of the center C of the upper steel coil are calculated as follows: (9) When it is determined that the centers of the two lower rolls are at the same height, that is, point C is located on the perpendicular bisector of AB, the height H of triangle ABC can be determined by the Pythagorean theorem. The coordinates of the center C of the upper steel coil are: (10) For a three-layer volume, repeat (1) to (9) to calculate the center coordinates of the left and right volumes of the second layer, and substitute them into the algorithm to solve for the coordinates of the third layer.
3. The method for center positioning of multi-layer steel coils based on dynamic triangular geometric relationships according to claim 2, characterized in that: The method is applicable to steel coil stacks of three or more layers. Through recursive calculation and layer-by-layer positioning, the steel coils already calculated in the lower layer are regarded as new references. The algorithm process is recursively called to calculate the center coordinates of the steel coils in the higher layers layer by layer.
4. The method for center positioning of multi-layer steel coils based on dynamic triangular geometric relationships according to claim 3, characterized in that: In step two, before the key parameters are input, the system executes a real-time data detection and calibration mechanism to detect the actual diameter and height data of the lower layer steel coil in real time. If the deviation between the detected value and the value recorded in the warehouse management system exceeds a preset threshold, the data calibration mechanism is triggered to update the work order parameters with the detected value and record the log.
5. The method for center positioning of multi-layer steel coils based on dynamic triangular geometric relationships according to claim 4, characterized in that: The stacking stability simulation analysis in step four includes at least one of the following methods: stability criterion calculation based on the center of gravity, contact point analysis of the support surface, and finite element static simulation.
6. The method for center positioning of multi-layer steel coils based on dynamic triangular geometric relationships according to claim 5, characterized in that: The visual sensing system in step seven is a binocular camera or a laser scanner, which uses point cloud registration and deviation detection technology to detect the deviation between the actual stacking position and the theoretical coordinates.
7. The method for center positioning of multi-layer steel coils based on dynamic triangular geometric relationships according to claim 6, characterized in that: The steel coil stacking strategy is column-based stacking, where the Y-coordinate of all layers of steel coils on the same saddle column remains unchanged.