CN107555187A - A kind of logistics robot palletizer control system of unmanned plane guiding - Google Patents
A kind of logistics robot palletizer control system of unmanned plane guiding Download PDFInfo
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- CN107555187A CN107555187A CN201710658047.0A CN201710658047A CN107555187A CN 107555187 A CN107555187 A CN 107555187A CN 201710658047 A CN201710658047 A CN 201710658047A CN 107555187 A CN107555187 A CN 107555187A
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- robot palletizer
- unmanned plane
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- palletized
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Abstract
The logistics robot palletizer control system of a kind of unmanned plane guiding, including be provided with the robot palletizer of controller, include being arranged on the ground of lorry side and be used to parking the limiting plate of the robot palletizer and hover over the unmanned plane above lorry；The unmanned plane is connected including the camera for gathering boxcar internal image, with the camera and is used to analyze the processor in area to be palletized according to boxcar internal image and is connected with the processor and is used to position area to be palletized and location data is transferred to the laser locating apparatus of the processor；The processor establishes RFDC with the controller, and the controller is used for the location data that reception processing device is sent and controls the robot palletizer to perform goods palletizing operation to area to be palletized corresponding with the location data；The real-time change conditions inside boxcar can be so grasped in all directions, effectively improve the automaticity of robot palletizer, reduce operation difficulty.
Description
Technical field
The present invention relates to goods stacking field, the logistics robot palletizer control system of more particularly to a kind of unmanned plane guiding
System.
Background technology
In warehouse logisticses field, with the raising of production technology, links be substantially all realize automation, nobody
Change.But in the link of goods outbound entrucking, completed substantially or using traditional artificial and fork truck.People's fixture vehicle, work
Intensity is big, and efficiency is low；Fork truck entrucking, it is irregular to easily cause goods, damage goods, and loading speed is slow；With the raising of technology
With continuous evolution, currently there is a kind of robot palletizer of logistics, automation stacking goods can be realized, so as to improve goods
The stacking efficiency of thing, but existing robot palletizer needs default program to be controlled, yet with the change of interior
Changing has randomness, easily control result is not consistent with actual environment, and control process is complex, has certain office
It is sex-limited.
The content of the invention
Goal of the invention：The problem of for being mentioned in background technology, the present invention provide a kind of logistics stacking of unmanned plane guiding
Robot control system.
Technical scheme：A kind of logistics robot palletizer control system of unmanned plane guiding, including it is provided with the code of controller
Pile robot, in addition to be arranged on the ground of lorry side and be used to park the limiting plate of the robot palletizer and hover over
Unmanned plane above lorry；The unmanned plane is included for the camera for gathering boxcar internal image and the camera
Connect and for analyzing the processor in area to be palletized according to boxcar internal image and being connected and use with the processor
In being positioned to area to be palletized and location data be transferred to the laser locating apparatus of the processor；The processor and institute
State controller and establish RFDC, the controller is used to receive described in the location data that the processor is sent and control
Robot palletizer performs goods palletizing operation to area to be palletized corresponding with the location data.
As a kind of preferred embodiment of the present invention, the unmanned plane also includes being connected with the processor and for treating code
Pile area carries out range measurement and laser ranging system of the data transfer to the processor, the processor will be measured into number
It is compared according to preset data, when comparing out measurement data and being less than preset data, area to be palletized is determined as stacking area.
As a kind of preferred embodiment of the present invention, the processor is additionally operable to analyse whether stacking be present according to boxcar internal image
Gap, if controlling the laser locating apparatus in the presence of if to being positioned at gap and location data being sent into the control
Device.
As a kind of preferred embodiment of the present invention, whether the processor is additionally operable to analyze the width in stacking gap beyond pre-
If width, the laser locating apparatus is controlled to being positioned at gap and location data being sent into the control if exceeding
Device.
The present invention realizes following beneficial effect：
By the implementation of the present invention, the real-time change conditions inside boxcar can be grasped in all directions, so as to stacking machine
People provides accurately location data to be palletized, effectively improves the automaticity of robot palletizer, reduces operation difficulty.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.
Fig. 1 is a kind of logistics robot palletizer control system architecture schematic diagram of unmanned plane guiding provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment one
It refer to shown in Fig. 1, present embodiments provide a kind of logistics robot palletizer control system of unmanned plane guiding, including set
The robot palletizer 2 of controller 1 is equipped with, in addition to is arranged on the ground of lorry side and is used to park the robot palletizer 2
Limiting plate and hover over unmanned plane 3 above lorry；The unmanned plane 3 includes being used to gather boxcar internal image
Camera 30, the processor 31 that area to be palletized is analyzed according to boxcar internal image is connected and is used for the camera 30
And it is connected with the processor 31 and is used to position area to be palletized and location data is transferred into the processor 31
Laser locating apparatus 32；The processor 31 establishes RFDC with the controller 1, and the controller 1 is used to connect
Receive the location data that the processor 31 is sent and control the robot palletizer 2 to corresponding with the location data to be palletized
Area performs goods palletizing operation.
Specifically, before goods palletizing operation is carried out, first the robot palletizer 2 is parked on the limiting plate, institute
The putting position for stating limiting plate to lorry be it is fixed, said controller 1 control the robot palletizer 2 to it is described
When area to be palletized performs goods palletizing operation corresponding to location data, by location data corresponding to area to be palletized and the limiting plate
Fixed range to lorry is added, you can draws the executing agency of the robot palletizer 2（Such as mechanical arm）Required motion
Distance and angle.
When carrying out goods palletizing operation, lorry car will be gathered by camera 30 by hovering over the unmanned plane 3 above lorry
Railway carriage or compartment internal image is simultaneously transmitted to the processor 31, and the processor 31 analyzes according to boxcar internal image treats code
Pile area, specific analysis mode are：Vacant position forward in boxcar inside is judged according to default queueing discipline, by it
It is as area to be palletized, such as default queueing discipline：It is horizontally-arranged to put from left to right, then it will determine that out what is occurred in placement area
Vacant position, positioning instruction then is exported to the laser locating apparatus 32, the laser locating apparatus 32 is according to positioning instruction
Send laser, the processor 31 checks the sweeping to position of laser by camera 30, sweep be in area to be palletized to position when,
The laser locating apparatus 32 is controlled to carry out laser positioning, location data is transferred to the processing by the laser locating apparatus 32
The location data in area to be palletized is wirelessly sent to the controller 1 by device 31, the processor 31 again；The control
Device 1 processed receives the location data that the processor 31 is sent and controls the robot palletizer 2 to corresponding with the location data
Area to be palletized perform goods palletizing operation, that is, control the robot palletizer 2 by goods stacking to be palletized to area to be palletized.
Embodiment two
Please answer reference chart 1, the present embodiment and embodiment one are substantially consistent, difference part be, in the present embodiment, it is described nobody
Machine 3 also includes being connected with the processor 31 and for carrying out range measurement to area to be palletized and by data transfer to described
Measurement data is compared with preset data for the laser ranging system 33 of processor 31, the processor 31, is comparing out survey
When amount data are less than preset data, area to be palletized is determined as stacking area.
Wherein, preset data is distance of the laser ranging system 33 to boxcar maximum code height of embankment degree, such as is set as 1
Rice, then for the processor 31 when comparing out measurement data less than 1 meter, i.e., laser ranging system 33 to boxcar is to be palletized
When the distance in area is less than 1 meter, it is determined as that the cargo height in area to be palletized exceeds maximum code height of embankment degree, so judges area to be palletized
For stacking area, that is, terminate to the stacking in the region.
Embodiment three
Reference chart 1 please be answer, the present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, the processing
Device 31 is additionally operable to analyse whether stacking gap be present according to boxcar internal image, is filled if controlling the laser positioning in the presence of if
Put and positioned at 32 pairs of gaps and location data is sent to the controller 1.
The controller 1 when receiving location data corresponding to gap, will control the robot palletizer 2 to gap
The location of corresponding location data performs goods palletizing operation.
Wherein, the processor 31 is additionally operable to analyze the width in stacking gap and whether exceed predetermined width, is controlled if exceeding
The laser locating apparatus 32 is made to being positioned at gap and location data being sent into the controller 1.
For example, predetermined width is set as 0.1 meter, then when the width for analyzing stacking gap exceeds 0.1 meter, described in control
To being positioned at gap and location data being sent into the controller 1, specific analysis mode is laser locating apparatus 32：
The engineer's scale of image is obtained, and obtains distance of the gap in image, so as to calculate the actual range in gap.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, it should all be included within the scope of the present invention.
Claims (4)
1. a kind of logistics robot palletizer control system of unmanned plane guiding, including the robot palletizer of controller is provided with, its
It is characterised by, in addition to is arranged on the ground of lorry side and is used to park the limiting plate of the robot palletizer and hovers over
Unmanned plane above lorry；The unmanned plane is included for the camera for gathering boxcar internal image and the camera
Connect and for analyzing the processor in area to be palletized according to boxcar internal image and being connected and use with the processor
In being positioned to area to be palletized and location data be transferred to the laser locating apparatus of the processor；The processor and institute
State controller and establish RFDC, the controller is used to receive described in the location data that the processor is sent and control
Robot palletizer performs goods palletizing operation to area to be palletized corresponding with the location data.
A kind of 2. logistics robot palletizer control system of unmanned plane guiding according to claim 1, it is characterised in that institute
State unmanned plane also include be connected with the processor and for area to be palletized progress range measurement and by data transfer to
Measurement data is compared with preset data for the laser ranging system of the processor, the processor, is comparing out measurement
When data are less than preset data, area to be palletized is determined as stacking area.
A kind of 3. logistics robot palletizer control system of unmanned plane guiding according to claim 1, it is characterised in that institute
State processor to be additionally operable to analyse whether stacking gap be present according to boxcar internal image, determine if controlling the laser in the presence of if
Position device at gap to being positioned and location data being sent into the controller.
A kind of 4. logistics robot palletizer control system of unmanned plane guiding according to claim 3, it is characterised in that institute
State processor and be additionally operable to analyze the width in stacking gap and whether exceed predetermined width, the laser locating apparatus is controlled if exceeding
To being positioned at gap and location data being sent into the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710658047.0A CN107555187A (en) | 2017-08-03 | 2017-08-03 | A kind of logistics robot palletizer control system of unmanned plane guiding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710658047.0A CN107555187A (en) | 2017-08-03 | 2017-08-03 | A kind of logistics robot palletizer control system of unmanned plane guiding |
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| CN107555187A true CN107555187A (en) | 2018-01-09 |
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| CN201710658047.0A Pending CN107555187A (en) | 2017-08-03 | 2017-08-03 | A kind of logistics robot palletizer control system of unmanned plane guiding |
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Cited By (3)
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| CN108910704A (en) * | 2018-09-18 | 2018-11-30 | 龙吉宁 | A kind of harbour bank crane tool Intelligent operation system of variable power and operation method |
| CN109911578A (en) * | 2019-02-21 | 2019-06-21 | 余海晏 | A kind of automotive service set automation transmission system and its method |
| CN112517410A (en) * | 2020-10-30 | 2021-03-19 | 平潭综合实验区百汉国际贸易有限公司 | Loading and sorting equipment for logistics storage and working method thereof |
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| CN106564761A (en) * | 2015-10-08 | 2017-04-19 | 胡雨滨 | Robot palletizer system |
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| US20170057761A1 (en) * | 2013-01-15 | 2017-03-02 | Wynright Corporation | Automatic Tire Loader/Unloader for Stacking/Unstacking Tires in a Trailer |
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| CN108910704A (en) * | 2018-09-18 | 2018-11-30 | 龙吉宁 | A kind of harbour bank crane tool Intelligent operation system of variable power and operation method |
| CN109911578A (en) * | 2019-02-21 | 2019-06-21 | 余海晏 | A kind of automotive service set automation transmission system and its method |
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Application publication date: 20180109 |