CN114435811A - Transformer quick loading intelligent distribution method - Google Patents

Abstract

The invention relates to the field of intelligent warehousing, in particular to the field of intelligent warehousing of the power supply chain industry, and more specifically to a method for intelligent distribution of transformers for quick loading. The vehicle loading and distribution method can be used to quickly obtain the transformer distribution scheme. And the generated results can be quickly converted into on-site site coordinates, so as to adapt to commonly used on-site intelligent loading and unloading tools such as AGVs and loading and unloading robots to realize automated and intelligent loading. The application of the technical solution disclosed in the present invention in the large environment of intelligent storage can save labor costs, improve production efficiency, and promote the standardization, safety and ordering of storage operations.

Description

Transformer quick loading intelligent distribution method

technical field

The invention relates to the field of intelligent warehousing, in particular to the field of intelligent warehousing of the power supply chain industry, and more specifically, to a method for fast loading and intelligent distribution of transformers.

Background technique

The transformer referred to in the present invention refers to the power transformer of the electric power industry. In the power industry, transformers are large equipment. At the same time, based on the particularity of the power equipment itself, there are more stringent loading requirements for the shipment of transformers than other types of materials.

At present, the power storage warehouse has developed from the traditional manual type to the automatic and intelligent type. In the whole development process, loading and unloading automation is an important link and main difficulty in warehousing automation. At present, manual loading and unloading methods cannot meet the requirements of automated and intelligent warehousing development. At the same time, manual participation in the loading and unloading process not only greatly affects the efficiency and effectiveness of automated warehousing, but also has problems of high safety risks.

In order to improve the degree of warehousing automation, intelligent loading and unloading equipment such as AGVs or loading and unloading robots have been developed in the field of automatic warehousing. With the positioning coordinates of the warehouse site, these devices can move in the warehouse with or without materials. However, during the loading process, when the materials arrive near the transport vehicle, how to load the materials into the vehicle reasonably and efficiently is still the key and difficult issue to improve the efficiency of automated storage.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is how to quickly generate a transformer loading and distribution method after the transport vehicle enters the waiting area, and convert the distribution method into a form that can be recognized by intelligent equipment such as AGV or loading and unloading robot, etc. Thereby improving the loading efficiency of automated and intelligent warehouses.

In order to solve the above-mentioned technical problems, the present invention discloses a method for intelligently distributing transformers for quick loading, including the following steps:

The first step is to obtain the scanned image of the vehicle panel of the vehicle to be loaded, and calculate the long side length m and the short side length n of the vehicle panel according to the scanned image of the vehicle panel;

In the second step, according to the model of the transformer to be loaded, the size data of the corresponding transformer is retrieved from the system, including the length of the long side a and the length of the short side of the transformer, as well as the minimum allowable placement distance s of the transformer and the transformer. The allowable minimum distance r from the edge of the car board;

The third step is to calculate the number of transformers in two arrangements, the long side of the transformer is arranged along the long side of the vehicle plate and the short side of the transformer is arranged along the long side of the vehicle plate.

A: When the long sides of the transformers are arranged along the long sides of the car board, [(m-r)/(a+s)]×[(n-r)/(b+s)] transformers can be arranged on the car board;

B: When the short sides of the transformers are arranged along the long sides of the car board, [(m-r)/(b+s)]*[(n-r)/(a+s)] transformers can be arranged on the car board;

In the fourth step, compare the results obtained by the two arrangements in the third step. If the number of transformers in the A arrangement is greater than or equal to the number of transformers in the B arrangement, then A is considered as the preferred solution; if the transformers in the B arrangement If the number is greater than the number of transformers in arrangement A, B is considered as the preferred solution.

In the fifth step, according to the preferred solution in the fourth step, a loading slot allocation image is generated, on which the transformers are arranged on the pallet image according to the position in the preferred solution.

The sixth step is to establish a coordinate system with a vertex of the car board as the origin, output the coordinate value of the center point of the transformer according to the loading plan, and convert it into the actual site coordinates and transmit it to the AGV car or the loading and unloading robot to realize the transformation of the transformer. Automatic loading.

As a preferred technical solution, in the first step, the method for obtaining the scanned image of the vehicle panel of the vehicle to be loaded is as follows: use a line scan camera to scan vertically above the vehicle to be loaded, and arrange the multiple linear data in chronological order. , to form a complete vehicle panel image of the vehicle to be loaded.

In a preferred technical solution, a sixth step is also included, according to the relative positional relationship between the transformer center point and the vehicle plate in the fifth step, and combined with the on-site coordinate position of the vehicle plate, generating the transformer center point in the on-site coordinate system the coordinate position.

Further preferably, in the sixth step, a virtual coordinate system is first established, and the on-site coordinate position of the vehicle panel is first transformed into the virtual coordinate system, and then the size data of the transformer is scaled in the virtual coordinate system according to the same proportion, and according to The optimal solution generates the coordinates of the center point of the transformer in the virtual coordinate system, and then according to the conversion relationship between the virtual coordinate system and the coordinate system of the site, the coordinates of the center point of the transformer are correspondingly converted to the coordinate values in the coordinate system of the site site. .

Preferably, the virtual coordinate system takes the long side direction of the vehicle panel as the X axis, and the short side direction of the vehicle panel as the Y axis.

More preferably, the origin of the virtual coordinate system is a vertex of the vehicle panel, and further preferably, the long side of the vehicle panel is along the positive direction of the X axis, and the short side of the vehicle panel is along the positive direction of the Y axis.

After the technical solution disclosed in the present invention is adopted, the intelligent distribution plan for transformer loading can be quickly and efficiently generated after the transport vehicle enters the loading position, and the generated result can be quickly converted into the coordinates of the site, thus being commonly used with AGVs, loading and unloading robots, etc. The on-site intelligent loading and unloading tools are adapted to realize automatic and intelligent loading. The application of the technical solution disclosed in the present invention in the large environment of intelligent warehousing can save labor costs, improve production efficiency, and promote the standardization, safety and ordering of warehousing operations.

Description of drawings

FIG. 1 is an image of loading slot allocation obtained in the embodiment.

Detailed ways

For a better understanding of the present invention, the present invention will be further described below with reference to specific embodiments.

In this embodiment, we disclose a specific intelligent distribution method for fast loading of transformers, including the following steps:

The first step is to obtain the scanned image of the vehicle panel of the vehicle to be loaded, and calculate the long side length m and the short side length n of the vehicle panel according to the scanned image of the vehicle panel;

In this embodiment, the method for obtaining the scanned image of the vehicle panel of the vehicle to be loaded is as follows: using a line scan camera to scan vertically above the vehicle to be loaded, and arranging multiple linear data in chronological order to form a complete vehicle to be loaded image of the vehicle's deck,

In order to ensure the accuracy of the image data of the vehicle deck, the line scan camera is fixed on the traveling mechanism vertically above the vehicle deck, and according to the scanning frequency f of the line scan camera, the traveling speed of the line scan camera is set as v, so as to obtain a series of image data.

In this embodiment, after a series of "time-image" data, we form a complete image of the vehicle panel. The side length n is 2.6 meters.

In the second step, according to the model of the transformer to be loaded, the size data of the corresponding transformer is retrieved from the system, including the length of the long side a and the length of the short side of the transformer, as well as the minimum allowable placement distance s of the transformer and the transformer. The allowable minimum distance r from the edge of the car board;

For example, in this embodiment, the length a of the long side of the transformer we call is 1 m, and the length of the short side b is 0.6 m. At the same time, according to the requirements of this type of transformer, the minimum placement distance s is 0.2 m, and the allowable distance The minimum distance r from the edge of the car board is also 0.2 meters.

The third step is to calculate the number of transformers in two arrangements, the long side of the transformer is arranged along the long side of the vehicle plate and the short side of the transformer is arranged along the long side of the vehicle plate.

A: When the long sides of the transformers are arranged along the long sides of the car board, [(m-r)/(a+s)]×[(n-r)/(b+s)] transformers can be arranged on the car board;

B: When the short sides of the transformers are arranged along the long sides of the car board, [(m-r)/(b+s)]*[(n-r)/(a+s)] transformers can be arranged on the car board;

In this embodiment, combined with the above-mentioned various data, the calculation is obtained:

In case A, the car board can put up to [(6.2-0.2)/(1+0.2)]×[(2.6-0.2)/(0.6+0.2)]=5×3, that is, 15 transformers;

In case B, the car board can put up to [(6.2-0.2)/(0.6+0.2)]×[[(2.6-0.2)/(1+0.2)]=7×2, that is, 14 transformers;

In the fourth step, compare the results obtained by the two arrangements in the third step. If the number of transformers in the A arrangement is greater than or equal to the number of transformers in the B arrangement, then A is considered as the preferred solution; if the transformers in the B arrangement If the number is greater than the number of transformers in arrangement A, B is considered as the preferred solution.

As mentioned above, in the case of A in this embodiment, the number of transformers is relatively large, so A is selected as the preferred solution.

In the fifth step, according to the preferred solution in the fourth step, a loading slot allocation image is generated, on which the transformers are arranged on the pallet image according to the position in the preferred solution.

As shown in Figure 1.

According to the relative positional relationship between the transformer center point and the car board in the fifth step, and combined with the on-site coordinate position of the car board, the coordinate position of the transformer center point in the on-site coordinate system is generated, and the on-site site coordinate value is controlled by the site. The system is transferred to the AGV trolley or the loading and unloading robot to complete the automatic loading.

The above are specific embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims (7)

1. The intelligent distribution method for rapid loading of the transformer is characterized by comprising the following steps:

the method comprises the steps of firstly, obtaining a sweep scanning image of a vehicle to be loaded, and calculating the length m of a long side and the length n of a short side of the sweep according to the sweep scanning image;

secondly, according to the model of the transformer to be loaded, the size data of the corresponding transformer is called from the system, wherein the size data comprises the length a of the long side and the length b of the short side of the transformer, the minimum placement spacing distance s allowed by the transformer and the minimum distance r allowed by the transformer from the edge of a vehicle plate;

thirdly, respectively calculating the number of the transformers under two arrangement modes of arranging the long edges of the transformers along the long edges of the vehicle plates and arranging the short edges of the transformers along the long edges of the vehicle plates,

a: when the long edges of the transformers are arranged along the long edges of the vehicle plate, [ (m-r)/(a + s) ] × [ (n-r)/(b + s) ] transformers can be arranged on the vehicle plate;

b: when the short edges of the transformers are arranged along the long edges of the vehicle plates, [ (m-r)/(b + s) ] - [ (n-r)/(a + s) ] transformers can be arranged on the vehicle plates;

step four, comparing results obtained by the two arrangement modes in the step three, and if the number of the transformers in the arrangement mode A is larger than or equal to that in the arrangement mode B, considering the arrangement mode A as a preferred scheme; and if the number of the transformers in the arrangement B is greater than that in the arrangement A, considering B as a preferred scheme.

And a fifth step of generating a loading cargo space allocation image on which the transformers are arranged on the truck bed image according to the preferred embodiment in the fourth step.

And sixthly, establishing a coordinate system by taking a certain vertex of the vehicle plate as an original point, outputting coordinate values of the center point of the transformer according to a loading scheme, converting the coordinate values into actual site coordinates, and transmitting the actual site coordinates to the AGV or the loading and unloading robot to realize automatic loading of the transformer.

2. The intelligent distribution method for the rapid loading of the transformer according to claim 1, characterized in that: in the first step, the method for obtaining the sweep scanning image of the vehicle to be loaded comprises the following steps: and scanning vertically above the vehicle to be loaded by using a line scanning camera, and arranging the linear data for multiple times according to a time sequence to form a complete vehicle plate image of the vehicle to be loaded.

3. The intelligent distribution method for the rapid loading of the transformer according to claim 1, characterized in that: and a sixth step of generating a coordinate position of the center point of the transformer in a field coordinate system according to the relative position relationship between the center point of the transformer and the vehicle plate in the fifth step and by combining the field coordinate position of the vehicle plate.

4. The intelligent distribution method for the rapid loading of the transformers according to claim 3, wherein the intelligent distribution method comprises the following steps: in the sixth step, a virtual coordinate system is established, the site coordinate position of the vehicle plate is firstly converted into the virtual coordinate system, then the size data of the transformer is scaled in the virtual coordinate system according to equal proportion, the coordinate of the center point of the transformer in the virtual coordinate system is generated according to the optimal scheme, and then the coordinate of the center point of the transformer is correspondingly converted into the coordinate value in the site coordinate system according to the conversion relation between the virtual coordinate system and the site coordinate system.

5. The intelligent distribution method for the rapid loading of the transformer according to claim 4, wherein the intelligent distribution method comprises the following steps: the virtual coordinate system takes the long side direction of the vehicle board as an X axis and takes the short side direction of the vehicle board as a Y axis.

6. The intelligent distribution method for the rapid loading of the transformer according to claim 5, wherein the intelligent distribution method comprises the following steps: the origin of the virtual coordinate system is a vertex of the vehicle plate.

7. The intelligent distribution method for the rapid loading of the transformers according to claim 6, wherein the intelligent distribution method comprises the following steps: the long side of the sweep is along the positive direction of the X axis, and the short side of the sweep is along the positive direction of the Y axis.

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