CN105416959B - A kind of intelligent repository control system based on machine vision - Google Patents
A kind of intelligent repository control system based on machine vision Download PDFInfo
- Publication number
- CN105416959B CN105416959B CN201510873158.4A CN201510873158A CN105416959B CN 105416959 B CN105416959 B CN 105416959B CN 201510873158 A CN201510873158 A CN 201510873158A CN 105416959 B CN105416959 B CN 105416959B
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- CN
- China
- Prior art keywords
- fork truck
- fork
- color
- control system
- intelligent repository
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Abstract
A kind of intelligent repository control system based on machine vision of the present invention, the system comprises fork truck, encoder and several high-altitude positioning shooting heads, wherein, the fork truck includes fork, plate and places the coiling placement platform coiled, and the front rear of the fork truck is respectively provided with picking sensor；The roof color of the fork truck is different from ground color；The encoder controls the fork of the fork truck to measure the height of the plate；Several high-altitude positioning shooting heads are respectively positioned on the top of the fork truck and cover the four corner of fork truck movement.By the present invention in that with full-automatic fork truck and high-altitude camera positioning system so that automation of depot management improves work efficiency and reduces cost.
Description
Technical field
The present invention relates to coil control field more particularly to a kind of intelligent repository control system based on machine vision.
Background technology
Control field is being coiled, PF is the abbreviation of POWER AND FREE CONVEYOR, refers to energy release.PF lines region
Device systems are the emphasis equipment of the finishing operation area in high-speed wire production line.PF lines are typically overhead chain conveyer, i.e. hook-type
The PF supply lines of transport segmentation transmission, in the rear end of the entire production line.
By the wire coiling that hot rolling generates, at least 250 degrees Celsius of temperature when on PF supply lines are loaded onto, it is necessary to pass through
Supercooling and transport could carry out the operation of subsequent handling, and the effect of PF supply lines is to transport to coil, in the lower section of upper volume station
C-shaped hook on PF lines receives the coiling that Coil transport trolley ships, and finishing is completed during transporting, and finished product detection, sampling are beaten
The sequence of operations such as volume are tied, weighed, be listed and unloaded, finally unload coiling from C-shaped hook by ejecting gear, empty hook returns collection volume station
Continue next cycling.Therefore, it is the important step of high-speed wire factory finishing procedure.
In the back zone of high-speed rod, when on the rack for coiling last procedure that packing is transported to PF supply lines,
All allocation and transportation are carried out using crane to be emitted in warehouse, fear to coil due to working at height and drop, often speed is slower, needs simultaneously
Ground control personnel cooperate allocation and transportation simultaneously.So not only efficiency is low, but also dangerous, and labor intensive is larger, and there is presently no realities
Existing automation control.
The content of the invention
In view of the above-mentioned defects in the prior art, in order to improve efficiency, reduce cost, by the present invention in that with full-automatic fork truck
Automatically controlling for intelligent repository is realized with high-altitude camera positioning system.
A kind of intelligent repository control system based on machine vision of the present invention, the system comprises fork truck, codings
Device and several high-altitude positioning shooting heads, wherein, the fork truck includes fork, plate and places the coiling placement platform coiled, institute
The front rear for stating fork truck is respectively provided with picking sensor；The roof color of the fork truck is different from ground color；The encoder
The fork of the fork truck is controlled to measure the height of the plate；Several high-altitude positioning shooting heads are respectively positioned on the upper of the fork truck
Side and the four corner for covering fork truck movement.
In said program preferably, camera is set on the fork truck.
In said program preferably, the fork truck can voluntarily start, stop and adjust movement velocity.
It is preferably in said program, the ground color of the four corner of the fork truck movement and the color of the coiling are not
Together.
In said program preferably, brushed with different from ground color on the ground of the four corner of the fork truck movement
Color scale line, the color scale line indicate the walking path of the fork truck.
By the present invention in that with full-automatic fork truck and high-altitude camera positioning system so that automation of depot management improves
Work efficiency and reduce cost.
Description of the drawings
Fig. 1 is the structure diagram of the intelligent repository control system of one embodiment of the present invention.
Fig. 2 is the forklift-walking schematic diagram of intelligent repository control system shown in FIG. 1.
Fig. 3 is that schematic diagram is placed in the coiling of intelligent repository control system shown in FIG. 1.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
The present invention provides a kind of intelligent repository control system based on machine vision, the system comprises full-automatic fork truck and
High-altitude positioning shooting head above the fork truck.Wherein, full-automatic fork truck, the fork on the fork truck is by encoder control
System, can be with the height of automatic measurement plate；There is light curtain measurement sensor at the front rear of fork truck, avoids hitting people or obstacle
Object；Fork truck can automatic start, stopping and speed regulating control as requested；Roof scribbles the color larger with ground color contrast；
Preferably, fork truck is equipped with camera.
Several high-altitude positioning shooting heads are respectively positioned on the top of the fork truck and cover the four corner of fork truck movement, institute
Camera is stated using high-altitude vertical hanging；Using multigroup camera covering entire control area control area ground color preferably with
Coiling color has some contrasts, to distinguish；Preferably, it is brushed on ground and indicates to pitch with the larger color scale line of ground color contrast
The walking path of vehicle, so that fork truck carries out track identification.
After the rack for being delivered to last procedure on PF lines is coiled, the color sensor in system passes through ground
The location mark line in face, into fork centering position, according to marking line distance coil position (this position is fixed position),
So that plate is in proper height, judge that there is coiling in front really by the picking sensor before plate, advance and fork disk
Volume after being raised to safe altitude, finds ground colour code track by camera and walks, in the case of cost-effective, utilize factory
The camera in room overhead positions the position of fork truck and controls the instruction fork truck direction of motion according to the color at the top of fork truck.
The placement position of coiling is recorded by camera at the top of workshop and the exhaust position data tracking coiled before, is sentenced
The rest in disconnected warehouse, and path planning is carried out according to proximal most position is first stored in, assign track route information to fork truck.
Fig. 2 is the forklift-walking schematic diagram of intelligent repository control system shown in FIG. 1.It is simply exemplary in Fig. 2 to be divided into four
A area can carry out subregion according to actual conditions.
Black lines are forklift-walking regional movement track lines in Fig. 2, are warehouse memory block between two lines.Vacantly
Camera need to cover all parts in the region.By the image recognition technology of the prior art, the vacant of four warehouse districts is judged
Part.And it is recorded by position mark after unloading volume every time into data tracking storehouse.Judged by the two information, volume can be unloaded
Spare area, while region is rolled up in the storage area coiled according to the good different size of predefined and nearest unloading, and is calculated
Volume position is unloaded, and is issued an order to fork truck.Fork truck is moved by the camera of oneself along colour code path line, while passes through overhead
Whether positioning shooting head auxiliary corrective position location is correct.After reaching designated position, carry out unloading volume.
Fig. 3 is that schematic diagram is placed in the coiling of intelligent repository control system shown in FIG. 1.After fork truck reaches designated position, lead to
The camera and picking sensor on vehicle are crossed, heap is coiled and coils and put to which layer, and according to requirement for height promotion
It puts.When unloading volume stacking, first the volume Two of the second layer is then sequentially placed, then is put after volume three of placement lowermost layer in sequence
The principle for putting the top first volume is stacked.Or in the light of actual conditions carry out establishment optimal time rhythm stacking order.
It is coiled constantly when outbound is needed to unload, specification steel grade as requested and nearest position, since most upper volume
Unload volume.Meanwhile truck need to be parked in the band of position of formulation, behind fork truck in-position, position and simultaneously carry out unloading volume according to truck height.
Wherein, the positioning of the fork truck can also install RFID transmitting base stations indoors, pass through three by far Distance RFID electronic tag
Physical location residing for the signal strength positioning fork truck for the electronic tag that a base station detects.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or carry out equivalent substitution to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is not made to depart from the spirit and scope of various embodiments of the present invention technical solution.
Claims (3)
1. a kind of intelligent repository control system based on machine vision, which is characterized in that the system comprises fork truck, encoder and
Several high-altitude positioning shooting heads,
Wherein, the fork truck includes fork, plate and places the coiling placement platform coiled,
The front rear of the fork truck is respectively provided with picking sensor；
The roof color of the fork truck is different from ground color；
The encoder controls the fork of the fork truck to measure the height of the plate；
Several high-altitude positioning shooting heads are respectively positioned on the top of the fork truck and cover the four corner of fork truck movement；
The ground color of the four corner of the fork truck movement is different from the color of the coiling；
On the ground of the four corner of the fork truck movement institute is indicated brushed with the color scale line different from ground color, the color scale line
State the walking path of fork truck.
2. intelligent repository control system as described in claim 1, which is characterized in that camera is set on the fork truck.
3. intelligent repository control system as described in claim 1, which is characterized in that the fork truck can voluntarily start, stop
With adjustment movement velocity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510873158.4A CN105416959B (en) | 2015-12-02 | 2015-12-02 | A kind of intelligent repository control system based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510873158.4A CN105416959B (en) | 2015-12-02 | 2015-12-02 | A kind of intelligent repository control system based on machine vision |
Publications (2)
| Publication Number | Publication Date |
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| CN105416959A CN105416959A (en) | 2016-03-23 |
| CN105416959B true CN105416959B (en) | 2018-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510873158.4A Active CN105416959B (en) | 2015-12-02 | 2015-12-02 | A kind of intelligent repository control system based on machine vision |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106743004A (en) * | 2016-11-22 | 2017-05-31 | 苏州哈工众志自动化科技有限公司 | A kind of reflector las er-guidance automatic stacking products storage circulation system and its application method |
| CN109264638A (en) * | 2018-11-13 | 2019-01-25 | 上海辛格林纳新时达电机有限公司 | A kind of intelligent forklift |
| CN113619986A (en) * | 2020-05-08 | 2021-11-09 | 星猿哲科技(上海)有限公司 | Robot sowing and/or sorting system with lifting mechanism |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19856762A1 (en) * | 1998-11-30 | 2000-05-31 | Axel Bartsch | Electronic archiving device for files on shelf transmits visual light beam to transponder on required file |
| DE10013092C2 (en) * | 2000-03-17 | 2002-01-24 | Haenel & Co Altstaetten | storage rack |
| DE10150252A1 (en) * | 2001-10-11 | 2003-05-08 | Knapp Logistik Automation | Method and device for operating a product warehouse, preferably a picking system |
| CN101739027B (en) * | 2009-12-01 | 2015-02-18 | 蒋平 | Distributed visual sensing network-based movable navigation system |
| CN204549114U (en) * | 2015-03-30 | 2015-08-12 | 苏州智载机器人有限公司 | A kind of automatic stereowarehouse |
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2015
- 2015-12-02 CN CN201510873158.4A patent/CN105416959B/en active Active
Non-Patent Citations (1)
| Title |
|---|
| 基于彩色视觉的自动引导车路标识别;刘大维等;《农业机械学报》;87-90;20060430;第37卷(第4期);87-90 * |
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| CN105416959A (en) | 2016-03-23 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20171027 Address after: 100096, 18, 5, 518, East Building Road, Xisanqi, Beijing, Haidian District Applicant after: Beijing Bestpower Worthysky Technology Co., Ltd. Address before: 100096 Beijing Xisanqi building materials City, East Road, No. 18, No. Applicant before: Beijing Bestpower Electrical Technology Co., Ltd. |
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Address after: 100096 Beijing Haidian District Xisanqi building materials East Road 18, 5, 518 room. Applicant after: Polytron Technologies Inc in Beijing Address before: 100096 Beijing Haidian District Xisanqi building materials East Road 18, 5, 518 room. Applicant before: Beijing Bestpower Worthysky Technology Co., Ltd. |
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