CN107572264B - Control system and control method of cantilever type full-automatic loading and unloading equipment - Google Patents
Control system and control method of cantilever type full-automatic loading and unloading equipment Download PDFInfo
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Abstract
The invention discloses a control system and a control method of cantilever type full-automatic loading and unloading equipment, wherein the control system comprises a control system power control system, an integral dispatching system and a vehicle condition detection system; the power control system comprises a transportation power assembly, a feeding power assembly and a stacking power assembly; the integral scheduling system comprises an IC information system, an intelligent gateway and an execution unit; the intelligent gateway is respectively connected with a user terminal and a cloud server through a communication module; the vehicle condition detection system comprises an actuating mechanism and a distance sensor. The invention has the beneficial effects that: the automatic stacking device can realize the control of automatic stacking of goods, is favorable for improving the efficiency of stacking of goods and realizing continuous and uninterrupted work, reduces the labor intensity of workers and saves the labor cost, can realize the transportation and transfer of goods by being matched with a conventional transmission mechanism, a three-shaft linkage mechanism and the like, and has the advantages of strong adaptability, wide application range and the like.
Description
Technical Field
The invention relates to the field of material loading, in particular to a control system and a control method of cantilever type full-automatic loading and unloading equipment.
Background
At fodder, food, grain, petrochemical trade, the mode of artifical loading and unloading is taken in current bagged materials loading, makes bagged materials pile on the tray, transports to the belt afterbody by fork truck, takes off the material on the tray by alone and drops into the carloader belt, transport to the carriage inside by the belt, the material is carried out the pile by one to two people in to the carriage, this equipment has that handling efficiency is low, the cost of labor is high, factor of safety is low, occupation harm factor shortcoming such as big. The position precision of material stacking is not high due to manual stacking. The phenomenon of slope appears easily in the material, and the jolt that causes because the road conditions can make the material take place to collapse or extrude each other at the in-process of transportation, is unfavorable for the transportation and the depositing of material.
Disclosure of Invention
The invention aims to provide a control system of cantilever type full-automatic loading and unloading equipment and a control method of the cantilever type full-automatic loading and unloading equipment, which can realize automatic loading to improve loading efficiency and save human resources.
The invention is realized by the following technical scheme: a control system of cantilever type full-automatic loading and unloading equipment comprises a control system, a power control system, an integral dispatching system and a vehicle condition detection system, wherein the power control system, the integral dispatching system and the vehicle condition detection system are respectively connected with the control system;
the power control system comprises a transportation power assembly, a loading power assembly and a stacking power assembly, wherein the transportation power assembly is used for automatically putting goods on a tray and driving the goods to move along with the tray to provide power, the loading power assembly is used for transferring the goods from the tray to provide power, and the stacking power assembly is used for conveying the transferred goods into a boxcar and stacking the goods;
the integral dispatching system comprises an IC information system electrically connected with the control system, an intelligent gateway electrically connected with the control system and an execution unit in transmission connection with the power control system; the intelligent gateway is respectively connected with a user terminal and a cloud server through a communication module;
the vehicle condition detection system comprises an actuating mechanism which is in transmission connection with the power control system and can move relative to the boxcar and a distance sensor arranged on the actuating mechanism; the distance sensor is connected with the control system. The power control system is used for providing power in the processes of material transfer, such as loading materials into the tray, transporting the materials, taking the materials out of the tray, transferring the materials into the carriage for stacking and the like, and adjusting the material stacking speed to be the same as the material transfer speed according to the output power. The IC information system is mainly used for checking vehicle information, checking corresponding loading information input later and generating an IC card according to the checking, wherein the information such as the vehicle information, the type and the quantity of materials needing to be loaded and the like are stored in the IC card. The truck driver takes the IC card and then enters a loading area for loading, card swiping identification information is carried out on the IC card reader, the IC card reader transmits the information to the material warehouse, and related equipment is controlled by the control unit to remind a goods taker to take goods. The size of the internal space of the carriage is measured by the vehicle condition detection system, so that the utilization of the space is planned to improve the utilization rate of the internal space of the carriage, the quantity of stacked cargos is confirmed, the positions of the stacked cargos are reasonably arranged, the stacking efficiency and precision are improved, and automatic production is realized.
The execution unit comprises a transportation manipulator which is in transmission connection with the transportation power assembly and is used for automatically putting a pallet on the goods and driving the goods to move along with the pallet, a feeding manipulator which is in transmission connection with the feeding power assembly and is used for transferring the goods from the pallet and providing power, and a stacking manipulator which is in transmission connection with the stacking power assembly and is used for conveying the transferred goods into a wagon compartment and stacking the goods. The manipulator is used for transferring materials, so that automatic control is convenient to realize, the labor intensity of workers is reduced, continuous work is facilitated, and the stacking efficiency is improved.
The execution unit also comprises a belt transmission unit arranged between the feeding manipulator and the stacking manipulator; the power control system also comprises a belt driving motor for driving the belt to rotate. So that the material can have the time of transition buffering in the transfer between material loading manipulator and pile up neatly manipulator, the frequency of the adjustment pile up neatly of being convenient for and the pay-off keeps unanimous to avoid appearing goods and piling up or the idle phenomenon of manipulator, the utilization is carried out the belt and can is realized long distance transmission, thereby separates material loading manipulator and pile up neatly manipulator, avoids material loading manipulator and pile up neatly manipulator to cause the interference and influence the operation in the moving.
The distance sensor is arranged on the stacking manipulator; the distance sensors are arranged on the actuating mechanism in a front, rear, left, right and lower direction arrangement by taking the same point on the actuating mechanism as a coordinate origin. The distance sensor and the stacking manipulator can share the same set of driving system to reduce the production and manufacturing cost of equipment, the occupied area of the equipment is reduced, and the distance between the goods on the stacking manipulator and the goods in the carriage can be detected in real time by the distance sensor during stacking, so that the stacking precision is improved, and the collision of the goods is avoided.
The stacking manipulator is provided with a camera device, and the camera device is electrically connected with the control system; the camera device adopts a CCD industrial camera. Utilize camera device to shoot the work when actuating mechanism gets into the carriage inside to obtain the inside true image in carriage, transmit control system through the image that will shoot, there is control system to carry out image processing, the analysis, and judge with this whether the carriage is inside to have goods or other debris to occupy the carriage inner space, and according to the processing to the image, the analysis reachs and occupies the carriage space goods, the position and the size of debris, according to handling, the pile up neatly position of material when the reasonable regulation follow-up automatic pile up neatly of information that obtains after the analysis.
The IC information system comprises an IC card, a card recorder and a card reader which are matched with the IC card for use, an RS485 and an upper computer; the card recorder and the card reader are respectively in communication connection with an upper computer through RS 485.
A control method of cantilever type full-automatic loading and unloading vehicle equipment comprises the following steps:
step S1: the truck enters a factory detection point, the related information of the variety to be loaded, the tonnage, the license plate number and the like of each variety is reported, the worker records the related information of the variety, the tonnage, the license plate number and the like into the IC magnetic card through the IC information system, and the card is issued to the driver of the truck after the card recording is finished;
step S2: the truck enters a loading point, card swiping operation is carried out through an IC information system, the IC information system reads relevant information in an IC magnetic card, after card reading is completed, the IC information system transmits relevant loading information to a control system, and the control system processes and distributes loading tasks according to the loading information;
step S3: the control system controls the transportation power assembly to start so as to stack the goods in the warehouse on the trays and drive the trays to be transported out of the warehouse;
step S4: when the tray moves to a designated place, the control system controls the feeding power assembly to start, and goods on the tray are transferred;
step S5: when the goods are transferred to the appointed place, the control system controls the feeding power assembly to be separated from the goods and controls the stacking power assembly to be started, and the goods transferred to the appointed place are transferred to the boxcar for stacking;
and step S6, the step S3 ~ S5 is repeated until a sufficient number of goods are loaded in the compartment of the truck.
In step S2, after the truck enters the loading point, the control system controls the actuator to drive the distance sensor to move inside the carriage to detect the size inside the carriage, the distance sensor feeds back the detected data to the control system, the control system analyzes and processes the data to obtain the length, width and height of the space inside the carriage, and the stacking position and the arrangement sequence of the goods are planned according to the size of the goods.
The control system is provided with a reference position as a reference, the control system analyzes and processes the data to obtain the position of the carriage and compares the position with the reference position, and if the carriage is inclined relative to the reference position, the control system controls the stacking power assembly to rotate so as to adjust the relative position relationship between the goods and the carriage when the stacking power assembly is stacked. Therefore, the increase of the space occupied by the goods due to the fact that the goods and the carriage are arranged in a relatively inclined mode can be avoided, and the utilization rate of the inner space of the carriage is improved.
Further comprising step S7: after the truck is loaded with enough goods, detecting whether the last pallet has the remaining goods, and if so, controlling the feeding power assembly to start by using the control system to drive the pallet to return to the warehouse to recover the goods; and detecting by using a gravity sensor, wherein the gravity sensor is electrically connected with the control system.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the automatic stacking device can realize the control of automatic stacking of goods, thereby being beneficial to improving the efficiency of stacking of goods and realizing continuous and uninterrupted work, reducing the labor intensity of workers and saving the labor cost.
Drawings
FIG. 1 is a schematic block diagram of the present solution;
FIG. 2 is a schematic structural view of embodiment 3;
FIG. 3 is a schematic structural view of example 5;
FIG. 4 is a schematic view of a distance sensor installation;
FIG. 5 is a schematic block diagram of embodiment 11;
the device comprises a 1-X-axis guide rail, a 2-Y-axis guide rail, a 3-Z-axis guide rail and a 4-distance sensor.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1:
as shown in fig. 1, in the present embodiment, a control system of a cantilever type fully automatic loading and unloading vehicle device includes a control system, and a power control system, an overall dispatching system and a vehicle condition detection system which are respectively connected to the control system. In this embodiment, the control system adopts a computer system with a mature technology under the prior art condition to realize functions of data processing, instruction sending, control and the like. As a person skilled in the art can realize the function of automatic control by using a computer system, detailed description of the specific structure and operation principle of the control system is omitted here.
The power control system comprises a transportation power assembly, a feeding power assembly and a stacking power assembly, wherein the transportation power assembly is used for automatically putting a cargo on a tray and driving the cargo to move along with the tray to provide power, the feeding power assembly is used for transferring the cargo from the tray to provide power, and the stacking power assembly is used for conveying the transferred cargo into a wagon compartment and stacking the cargo.
Under the prior art, the motor is the most common power source, and is directly driven by the motor or driven by the motor combined with a speed reducer, even if the initial power source of a hydraulic and pneumatic system is the motor.
In this embodiment, the transportation power assembly includes a transportation motor for providing power. And driving the transportation manipulator to transfer the goods in the warehouse to the tray by using the transportation motor. In this embodiment, in order to realize automatic tray transfer, thereby adopt the transportation belt system to be connected with the tray transmission and realize the transportation of tray. The conveying belt system is in transmission connection with the conveying motor. One or more transport motors can be arranged. The conveying manipulator and the conveying belt system share the same motor, or different conveying motors are respectively used. In this embodiment, it is common knowledge and conventional means of those skilled in the art to realize the transfer of the goods by using the transport manipulator, and those skilled in the art can realize the above functions according to the description of the present solution, and the improvement point of the present solution does not lie in the structure of the transport manipulator and the transport belt system itself, and the detailed description of the specific structure and the operation principle of the transport manipulator and the transport belt system is not provided here.
In this embodiment, the feeding power assembly includes a feeding motor for providing power. The feeding motor is used for providing power for transferring the goods from the tray so as to realize the power for transferring the goods. In this embodiment, the material is transferred by using the material loading motor and the three-axis linkage system in cooperation.
In this embodiment, the pile up neatly power component including provide the pile up neatly motor of power. The power for transferring the goods transferred from the tray into the carriage and stacking the goods is provided by the stacking motor. In this embodiment, use in order to realize the transfer of material through using the cooperation of pile up neatly motor and triaxial linked system. The three-axis linkage system can realize the free movement of the power output shaft within a space range so as to meet the transfer requirement of materials. In this embodiment, the three-axis linkage system is common knowledge and conventional means of those skilled in the art, and has various specific forms, and those skilled in the art can implement the above functions by selecting any one of the three-axis linkage systems according to the description of the present embodiment, and the specific structure and the operation principle of the three-axis linkage system are not described herein.
The transportation motor, the feeding motor and the stacking motor are respectively connected with the control system, so that the control system controls the transportation motor, the feeding motor and the stacking motor to respectively operate to achieve the purpose of automatic control.
In this embodiment, the overall scheduling system includes an IC information system electrically connected to the control system, an intelligent gateway electrically connected to the control system, and an execution unit in transmission connection with the power control system; the intelligent gateway is connected with a user terminal and a cloud server through a communication module respectively.
The IC information system is arranged at the vehicle entrance guard, the truck enters the entrance guard, the IC information system checks the vehicle information, corresponding loading information is input after the checking, and an IC card is generated according to the checking, and the vehicle information, the information such as the type and the quantity of materials needing to be loaded and the like are stored in the IC card. The truck driver takes the IC card and then enters a loading area for loading, card swiping identification information is carried out on the IC card reader, the IC card reader transmits the information to the material warehouse, and related equipment is controlled by the control unit to remind a goods taker to take goods. The control system controls the loading action and transmits the control dynamic information to the intelligent gateway, the intelligent gateway performs wireless communication with the user terminal and the cloud server through the communication module connected with the intelligent gateway after the intelligent gateway realizes intercommunication among different networks, transmits the control dynamic information to the user terminal and the cloud server for remote loading monitoring, and stores and records the control dynamic information in real time. Thereby facilitating the cargo loading information management of the information.
The vehicle condition detection system comprises an actuating mechanism which is in transmission connection with the power control system and can move relative to the boxcar, and a distance sensor 4 arranged on the actuating mechanism; the distance sensor 4 is connected with the control system.
After the truck to be loaded is parked in place, the carriage of the truck is positioned below the distance sensor 4 so as to detect data. According to the scheme, the control system controls the driving system to drive the actuating mechanism, the actuating mechanism moves to drive the distance sensor 4 to move relative to the wagon carriage, the size of the inner space of the carriage can be measured through data detected by the distance sensor 4, so that the inner space of the carriage can be conveniently utilized and planned to improve the utilization rate of the inner space of the carriage, and the quantity of goods stacking can be conveniently confirmed and the positions of the goods stacking can be reasonably arranged. The detected data comprises the distance between the sensor and the inner wall of the carriage body and the distance between the sensor and the bottom of the carriage body. This scheme can realize the automatic control of goods from warehouse to carriage overall process, and the in-process does not need manual intervention and personnel's operation to can play saving human resources, reduce the human cost and reduce intensity of labour's effect, compare in the manual handling pile up neatly can increase the quantity and the efficiency of pile up neatly in the unit interval, thereby improve the efficiency that the goods came out of stock, be favorable to reducing the time cost.
The method specifically comprises the following steps:
step S1: the truck enters a factory detection point, the related information of the variety to be loaded, the tonnage, the license plate number and the like of each variety is reported, the worker records the related information of the variety, the tonnage, the license plate number and the like into the IC magnetic card through the IC information system, and the card is issued to the driver of the truck after the card recording is finished;
step S2: the truck enters a loading point, card swiping operation is carried out through an IC information system, the IC information system reads relevant information in an IC magnetic card, after card reading is completed, the IC information system transmits relevant loading information to a control system, and the control system processes and distributes loading tasks according to the loading information;
step S3: the control system controls the transportation power assembly to start so as to stack the goods in the warehouse on the trays and drive the trays to be transported out of the warehouse;
step S4: when the tray moves to a designated place, the control system controls the feeding power assembly to start, and goods on the tray are transferred;
step S5: when the goods are transferred to the appointed place, the control system controls the feeding power assembly to be separated from the goods and controls the stacking power assembly to be started, and the goods transferred to the appointed place are transferred to the boxcar for stacking;
and step S6, the step S3 ~ S5 is repeated until a sufficient number of goods are loaded in the compartment of the truck.
Example 2:
on the basis of the above embodiment, in this embodiment, the execution unit includes a transportation manipulator which is connected with the transportation power assembly in a transmission manner to automatically put the goods on the tray and drive the goods to move along with the tray, a feeding manipulator which is connected with the feeding power assembly in a transmission manner to transfer the goods from the tray and provide power, and a palletizing manipulator which is connected with the palletizing power assembly in a transmission manner to convey the transferred goods into the truck compartment and palletize the goods. The conveying manipulator is in transmission connection with the conveying motor, the feeding manipulator is in transmission connection with the feeding motor, and the stacking manipulator is in transmission connection with the stacking motor. Therefore, the control system can be used for controlling the rotation and stop of the conveying motor to control the action of the conveying manipulator, the control system is used for controlling the rotation and stop of the feeding motor to control the action of the feeding manipulator, and the control system is used for controlling the rotation and stop of the stacking motor to control the action of the stacking manipulator. The material transfer is realized by respectively utilizing the conveying manipulator, the feeding manipulator and the stacking manipulator, so that the automation control is realized, the labor intensity of workers is reduced, and the continuous work is realized, and the stacking efficiency is improved. Transportation manipulator, material loading manipulator and pile up neatly manipulator all adopt ripe manipulator structure under the prior art condition can realize, above-mentioned function can be realized according to the record of this scheme to technical staff in the field, and the concrete structure and the theory of operation of transportation manipulator, material loading manipulator and pile up neatly manipulator are not repeated here. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
Example 3:
as shown in fig. 2, on the basis of the above embodiment, in the present embodiment, the three-axis linkage system includes an X-axis guide rail 1 disposed on the support, a Y-axis guide rail 2 slidably mounted on the X-axis guide rail 1, and a Z-axis guide rail 3 slidably mounted on the Y-axis guide rail 2, and the transportation manipulator, the feeding manipulator, or the palletizing manipulator is disposed on the Z-axis guide rail 3. Therefore, the relative sliding of the X-axis guide rail 1 and the Y-axis guide rail 2 and/or the relative sliding of the Y-axis guide rail 2 and the Z-axis guide rail 3 are utilized to drive the transportation manipulator, the feeding manipulator or the stacking manipulator to move, and accordingly, the goods are driven to move by the movement of the transportation manipulator, the feeding manipulator or the stacking manipulator. In this embodiment, the sliding installation is a means in the prior art, and includes a plurality of forms such as gear and rack meshing transmission, hydraulic cylinder driving, pneumatic cylinder driving, linear motor driving, belt system driving, and the like to drive the Y-axis guide rail 2 to slide on the X-axis guide rail 1, or to drive the Z-axis guide rail 3 to slide on the Y-axis guide rail 2. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
Example 4:
on the basis of the above embodiment, in this embodiment, the execution unit further includes a belt conveying unit disposed between the feeding manipulator and the palletizing manipulator. The power control system also comprises a belt driving motor for driving the belt to rotate. The control system is used for controlling the rotation and the stop of the belt driving motor to drive the rotation and the stop of the belt, so that goods are transported between the feeding mechanical arm and the stacking mechanical arm. The material loading manipulator places the goods on the belt, is taken away the goods by the belt, and the goods is taken off from the belt to the pile up neatly manipulator again. The time that the material can have transition buffering in the transfer between material loading manipulator and pile up neatly manipulator with this, be convenient for with the frequency adjustment of pile up neatly and pay-off to keep unanimous to avoid appearing causing the phenomenon that the goods is piled up because the speed of pay-off is greater than the speed of pile up neatly, or the speed of pay-off is less than the speed of pile up neatly and causes the idle phenomenon of pile up neatly manipulator. The utilization carries out the belt and can realize long distance transmission to separate material loading manipulator and pile up neatly machinery hand, avoid material loading manipulator and pile up neatly machinery hand to cause the interference and influence the operation in the moving. Thereby can also reduce the stroke of material loading manipulator and pile up neatly manipulator thereby shorten the goods by the required time of warehouse to the whole stroke in carriage to be favorable to improving work efficiency. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
Example 5:
as shown in fig. 3 and 4, in the present embodiment, on the basis of the above embodiments, the distance sensor 4 is arranged on the palletizing robot. With this make same set of actuating system with reduction in production cost that distance sensor 4 and pile up neatly machinery hand can share to can utilize distance sensor 4 real-time detection pile up neatly to the goods on the machinery hand and the carriage in the distance between the goods when the pile up neatly, thereby be favorable to improving the precision of pile up neatly. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
Example 6:
on the basis of the above embodiment, in this embodiment, the power control system further includes a stacking manipulator rotation driving device which is in transmission connection with the stacking manipulator to drive the stacking manipulator to rotate. The control system stores the standard as a reference, and calculates the offset angle of the carriage relative to the standard according to the data fed back by the distance sensor 4. When the control system is used for controlling the transportation of goods, the standard is used as a reference to establish a coordinate system, then a reference coordinate of one point of the goods stacking position is obtained, and a stacking manipulator is controlled to drive the goods to move to a position corresponding to the reference coordinate and lay down the goods. When the carriage is shifted in translation, rotation, etc. relative to the standard, the corresponding reference coordinates will change. If the carriage is simply translated, the offset number is added and subtracted on the basis of the original coordinate value of the reference coordinate. If the carriage rotates relative to the standard, the coordinate value corresponding to the reference coordinate is calculated through the trigonometric function. In this embodiment, the calculation of the coordinate value of the reference coordinate is common knowledge and is not taken as an improvement point of the present solution, and the above effect can be achieved by a person skilled in the art by combining the common knowledge known by the person skilled in the art, and the present solution is not described in detail on the specific process of calculation. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
Example 7:
in addition to the above embodiments, in the present embodiment, the distance sensors 4 are provided in five rows and arranged on the actuator in five directions, i.e., front, rear, left, right, and lower directions, with the same point on the actuator as a coordinate origin. The distances between the five distance sensors 4 and the coordinate origin are the same, so that the later calculation of the size of the carriage is facilitated. Firstly, an actuating mechanism is utilized to drive the whole distance sensor 4And the distance sensor 4 moves downwards, the distance from the lowest distance sensor 4 to the bottom of the carriage is detected, when the data detected by the distance sensors 4 positioned in the front, rear, left and right directions are changed drastically, all the distance sensors 4 enter the carriage, and the data detected at the lowest position at the moment is used as the height size of the carriage. The mobile executing mechanism moves in the carriage, and at least two groups of data are selected as references to obtain the internal dimension of the carriage. For example, the distance data detected by the distance sensors 4 arranged in the five front, rear, left, right, and lower azimuths is (a, b, c, d, e), the length L = a + b of the vehicle compartment, the width W = c + d of the vehicle compartment, and the height H = e of the vehicle compartmentmax. The distance data is obtained by processing the data fed back by the distance sensor 4 by the computer, and the specific process of the processing is common knowledge of those skilled in the art and is not taken as an improvement point of the present solution. From the known length and width dimensions bagL, bagW and bagH of the cargo, the number of the vehicles that can be loaded can be calculated. Or in the case of not filling the cabin, the control system commands the control of the quantity of charge. In this embodiment, the distance sensor 4 is a laser sensor. This scheme is through adopting five distance sensor 4 and setting at five position before, back, left and right, the lower with same coordinate origin as the reference point to this can one step detect targets in place, improves the efficiency that detects. The waste caused by the increase of the sensors is avoided, and the situation that the detection precision is poor or the position of the sensor needs to be adjusted for multiple repeated detections due to the insufficient number of the sensors is also prevented. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
Example 8:
in addition to the above embodiments, in the present embodiment, the control system receives the data fed back by the distance sensor 4, and then performs simulation and calculation using the data to obtain the length, width, and height of the internal space of the vehicle cabin. In this embodiment, it is common knowledge of those skilled in the art that data processing can be performed by using a control system, and detailed descriptions of specific processes and principles of data processing are not provided herein. In this embodiment, the partial algorithm for calculating the length and width of the car is as follows:
（**********Function Block CalculateCar***********）
FOR ii=:1 TO 20 DO
calcuAlam[ii] :=FALSE;
END_FOR
Done := FALSE;
IF scanp[2].front-scanp[1].front>0 THEN
Tmpr1:= scanp[1].left- scanp[2] .left;
Tmpr2:= scanp[2]. front - scanp[1] . front;
Radian:=ATAN(Tmpr1/ Tmpr2);
ELSE
calcuAlam[1] :=TRUE;
Error : =TRUE;
Done: = FALSE;
RETURN;
END_IF;
Length :=(scanp[1].front + scanp[1].back)*COS(radian);
width :=(scanp[1].left + scanp[1].right)*COS(radian);
leftupAxis.X:=scanAxisfront.X–((scanp[1].left+scanp[1].front*TAN(radian))/(1+EXPT(TAN(radian),2)));
leftupAxis.Y:=scanAxisfront.Y–((scanp[1].front+scanp[1].left*TAN(radian))/(1+EXPT(TAN(radian),2)));
in this embodiment, the distance between the distance sensors 4 is ignored or added to the calculation process as a known parameter during the calculation. The data detected by the distance sensor 4 is used for calculating the internal size of the carriage, so that the method has the advantages of high precision, rapidness in detection and convenience in realizing automation, and the whole process of loading cargoes can be accelerated. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
Example 9:
on the basis of the above embodiment, in this embodiment, after the control system calculates the length, width and height of the internal space of the carriage, the number and arrangement of the stacked goods are calculated according to the size of the goods.
If the cargo has the same length and width dimension, bagL = bagW. During stacking, the side face of the goods is aligned with the side wall of the carriage, and the quantity of the goods which can be stacked in each layer is calculated to be [ L/bag ] W/bag by using the control system. And selecting the stacking layer number in each carriage according to the transportation demand.
If the length and width of the goods are different, the bag L is not equal to the bag W. During stacking, the goods have two stacking modes of carriage length to material length and carriage length to material width relative to the carriage, a control system is used for calculating two data of [ L/bag ] W/bag W ] and [ L/bag W ] W/bag L ] and selecting the stacking mode corresponding to the maximum value to stack, for example, when [ L/bag L ] (W/bag W ] > [ L/bag W ] (W/bag L), the carriage length is used for stacking the material length. When [ L/bagL ] [ W/bagW ] < [ L/bagW ] [ W/bagL ], the material is stacked in a mode of using the carriage length to be wide. The maximum quantity of materials can be placed on the same layer, so that the utilization rate of the carriage space is improved, and the quantity of cargos carried by the same vehicle on the premise of no overweight is increased. Thereby being beneficial to improving the transportation efficiency and reducing the transportation cost. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
Example 10:
on the basis of the above embodiments, in this embodiment, the actuator is provided with an image pickup device, and the image pickup device is electrically connected to the control system. In this embodiment, make camera device be close to the distance sensor 4 that is located the below and set up, when actuating mechanism drove distance sensor 4 and removes, camera device and distance sensor 4 synchronous motion and shoot the carriage internal conditions, upload control system with the image of shooing, are handled the analysis by control system. In the actual operation process, the detection of the railings around the carriage and the sundries in the carriage is inconvenient only by the distance sensor 4, whether goods or other sundries exist in the carriage can be detected by combining the distance sensor 4 with the camera device, and whether the railings exist around the carriage can be judged by processing the shot images. If the goods or other sundries are really in the carriage, the control system is used for processing the shot images and obtaining the data of the size, the occupied space size, the position and the like of the goods or sundries, and the control system calculates the size of the residual space in the carriage by combining the data. And judging whether the same goods or other sundries needing to be transported in the batch exist in the carriage according to the analysis of the images. If the goods are the goods, the control system analyzes according to the images and the data of the distance sensor 4 to judge whether the goods need to move. And if the position of the goods does not accord with the placing requirement, the control system controls the manipulator to drive the goods to move to a proper position. How to judge whether it is a proper position is referred to example 5. If other sundries exist in the compartment, the control system calculates the residual size of the compartment according to the size of the sundries and reasonably distributes the positions of goods stacking so that the goods and the sundries can be avoided. Because the manipulator can not always grab sundries, under the condition that the manipulator can not grab the sundries, the manipulator is not considered to be used for moving the sundries. The control system is a mature technology in the prior art for processing and analyzing images and calculating the space size, and a person skilled in the art can achieve the above effects according to the content recorded in the present scheme, and the processing process of the control system is not described herein again.
In this embodiment, the image capturing device is a CCD industrial camera. The CCD industrial camera can be used for high-frequency shooting, the efficiency of shooting ten to hundreds of pictures per second is realized, and the processing and analysis of a control system are facilitated by shooting a large number of pictures. Moreover, the CCD industrial camera can continuously work for a long time, so that the whole continuous uninterrupted work of the automatic loading and unloading vehicle is favorably realized, and the shutdown of the whole production line caused by the shutdown of the CCD industrial camera is avoided. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
Example 11:
as shown in fig. 5, on the basis of the above embodiment, in this embodiment, the IC information system includes an IC card, a card recorder and a card reader that cooperate with the IC card, an RS485, and an upper computer; the card recorder and the card reader are respectively in communication connection with an upper computer through RS 485.
By using the IC card information system, the IC card has the characteristics of small volume, light weight, strong anti-interference capability, portability, easy use and convenient storage. The security is high, the IC card implements the security policy from several aspects such as hardware and software, and can control the access characteristics of different areas in the card, the encrypted IC card has a security password, and if data access is attempted illegally, the card is self-destroyed and can not be read and written any more. The IC card has strong anti-magnetic and anti-static anti-interference capability with certain strength and higher reliability than a magnetic card. The service life is long, and generally, the reading and writing can be repeated for more than 10 ten thousand times. The comprehensive cost is not high, and the IC card reading and writing equipment is simpler, more reliable, cheaper, easier to popularize and more convenient to maintain than the magnetic card reading and writing equipment. The IC card has low requirement on network, has low safety and reliability, reduces the requirements on real-time performance and sensitivity of a computer network in an application environment, quite meets the requirements of the current system, is favorable for application in the environment with low network quality, and has extremely high cost performance.
And the upper computer is connected with the control system. The intelligent gateway is a HINET intelligent gateway. The HINET intelligent gateway is an equipment communication terminal product which integrates various internet communication technologies and is oriented to the industrial field. The network access method comprises 3G, 4G, WIFI and other internet access modes, can adapt to various network application environments, and provides a safe communication link available everywhere. The method provides a high-speed data channel for the information management of the equipment, and provides safe and reliable guarantee and a solid foundation for realizing all functions of the whole system. The HINET intelligent gateway adopts a full-industrialized hardware design platform and combines advanced software functions, so that enterprises can quickly build a large-scale industrial equipment communication network in a minimum investment range, and multi-service channels containing data, voice and video are provided for clients. Which is very well suited to the industrial requirements.
The communication module is a ZIGBEE module connected with the intelligent gateway. The ZIGBEE module is adopted because the ZIGBEE module is different from a CDMA network or a GSM network of mobile communication, and the ZigBee network is mainly established for automatically controlling data transmission in an industrial field, so the ZIGBEE module has the characteristics of simplicity, convenient use, reliable work and low price. The mobile communication network is mainly established for voice communication, the value of each base station is generally more than million yuan, and the value of each ZigBee base station is less than 1000 yuan. Each ZigBee network node can be used as a monitoring object, for example, a sensor connected with the ZigBee network node can directly acquire and monitor data, and can automatically transfer data information transmitted by other network nodes. In addition, each ZigBee network node FFD can be in a signal coverage range of the ZigBee network node FFD and wirelessly connected with a plurality of isolated sub-nodes RFDs which do not bear the network information transfer task, so that the ZIGBEE module adopted in the system has extremely high cost performance. The user terminal adopts a voice broadcasting system. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
Example 12:
on the basis of the above embodiment, in the present embodiment, after the truck is loaded with a sufficient number of goods, the last pallet is checked to see whether there are any remaining goods. The gravity sensor is electrically connected with the control system by arranging the gravity sensor on the tray. Along with the reduction of the number of the goods on the tray, the data detected by the gravity sensor changes, and the gravity sensor feeds the detected data back to the control system in real time, and the data are processed and recorded by the control system. And when the last data fed back by the gravity sensor passes through the control system, comparing the data fed back by the gravity sensor with the data fed back by the gravity sensor when no material exists on the tray, if the data fed back by the gravity sensor and the data fed back by the gravity sensor are the same, indicating that no material exists on the tray, and if the data fed back by the gravity sensor and the data fed back by the gravity sensor are different, indicating that the material still. The control system controls the feeding power assembly to start and drives the tray to return to the warehouse so as to facilitate the recovery of the materials. In this embodiment, the gravity sensor is the prior art, and those skilled in the art can implement the above functions according to the content described by this courageous dare, and the detailed structure and installation manner of the gravity sensor are not described herein. In this embodiment, other undescribed parts are the same as those in the above embodiment, and thus are not described again.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (8)
1. The utility model provides a control system of full auto-control handling of cantilever type car equipment which characterized in that: the system comprises a control system, and a power control system, an integral dispatching system and a vehicle condition detection system which are respectively connected with the control system;
the power control system comprises a transportation power assembly, a loading power assembly and a stacking power assembly, wherein the transportation power assembly is used for automatically putting goods on a tray and driving the goods to move along with the tray to provide power, the loading power assembly is used for transferring the goods from the tray to provide power, and the stacking power assembly is used for conveying the transferred goods into a boxcar and stacking the goods;
the integral dispatching system comprises an IC information system electrically connected with the control system, an intelligent gateway electrically connected with the control system and an execution unit in transmission connection with the power control system; the intelligent gateway is respectively connected with a user terminal and a cloud server through a communication module;
the vehicle condition detection system comprises an actuating mechanism which is in transmission connection with the power control system and can move relative to the boxcar, and a distance sensor (4) arranged on the actuating mechanism; the distance sensor (4) is connected with a control system;
the execution unit comprises a transportation manipulator which is in transmission connection with the transportation power assembly to realize automatic goods putting on the tray and drive the goods to move along with the tray, a feeding manipulator which is in transmission connection with the feeding power assembly to realize goods transferring from the tray to provide power, and a stacking manipulator which is in transmission connection with the stacking power assembly to realize the transfer of the goods into the freight car and stacking;
the execution unit also comprises a belt transmission unit arranged between the feeding manipulator and the stacking manipulator; the power control system also comprises a belt driving motor for driving the belt to rotate;
the stacking manipulator is provided with a camera device, and the camera device is electrically connected with the control system.
2. The control system of a cantilevered fully automated loader device according to claim 1, further comprising: the distance sensor (4) is arranged on the stacking manipulator; the distance sensors (4) are arranged on the actuating mechanism in an arrangement mode according to five directions, namely front, rear, left, right and lower, by taking the same point on the actuating mechanism as a coordinate origin.
3. The control system of a cantilevered fully automated loader device according to claim 2, wherein: the camera device adopts a CCD industrial camera.
4. A control system for a cantilevered fully automated loader device according to any one of claims 1, 2 or 3 wherein: the IC information system comprises an IC card, a card recorder and a card reader which are matched with the IC card for use, an RS485 and an upper computer; the card recorder and the card reader are respectively in communication connection with an upper computer through RS 485.
5. The control method of a control system of a cantilevered fully automated loader device according to any one of claims 1 to 4, characterized in that: the method comprises the following steps:
step S1: the truck enters a factory detection point, the variety to be loaded, the tonnage of each variety and the related information of the license plate number are reported, the worker records the related information of the variety, the tonnage and the license plate number into an IC magnetic card through an IC information system, and the information is issued to a driver of the truck after the card recording is finished;
step S2: the truck enters a loading point, card swiping operation is carried out through an IC information system, the IC information system reads relevant information in an IC magnetic card, after card reading is completed, the IC information system transmits relevant loading information to a control system, and the control system processes and distributes loading tasks according to the loading information;
step S3: the control system controls the transportation power assembly to start so as to stack the goods in the warehouse on the trays and drive the trays to be transported out of the warehouse;
step S4: when the tray moves to a designated place, the control system controls the feeding power assembly to start, and goods on the tray are transferred;
step S5: when the goods are transferred to the appointed place, the control system controls the feeding power assembly to be separated from the goods and controls the stacking power assembly to be started, and the goods transferred to the appointed place are transferred to the boxcar for stacking;
and step S6, the step S3 ~ S5 is repeated until a sufficient number of goods are loaded in the compartment of the truck.
6. The control method of the control system of the cantilevered fully automated loader device according to claim 5, wherein: in the step S2, after the truck enters the loading point, the control system controls the actuator to drive the distance sensor (4) to move in the carriage to detect the size of the carriage, the distance sensor (4) feeds detected data back to the control system, the control system analyzes and processes the data to obtain the length, width and height of the inner space of the carriage, and the stacking position and the arrangement sequence of the goods are planned according to the size of the goods.
7. The control method of the control system of the cantilevered fully automated loader device according to claim 6, wherein: the control system is provided with a reference position as a reference, the control system analyzes and processes the data to obtain the position of the carriage and compares the position with the reference position, and if the carriage is inclined relative to the reference position, the control system controls the stacking power assembly to rotate so as to adjust the relative position relationship between the goods and the carriage when the stacking power assembly is stacked.
8. The control method of the control system of the cantilevered fully automated loader device according to claim 6, wherein: further comprising step S7: after the truck is loaded with enough goods, detecting whether the last pallet has the remaining goods, and if so, controlling the feeding power assembly to start by using the control system to drive the pallet to return to the warehouse to recover the goods; and detecting by using a gravity sensor, wherein the gravity sensor is electrically connected with the control system.
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| CN109051832B (en) * | 2018-08-22 | 2023-09-12 | 仪通微感（北京）科技有限公司 | Automatic stacking and loading equipment |
| CN109319525A (en) * | 2018-11-16 | 2019-02-12 | 西安中科光电精密工程有限公司 | A kind of the intelligent heavy-load loading system and method for whole pile entrucking |
| CN109827797B (en) * | 2019-01-25 | 2021-03-26 | 安徽农业大学 | Automatic identification device for sampling range of bulk grain vehicle and coordinate establishment method thereof |
| CN110053989A (en) * | 2019-05-29 | 2019-07-26 | 郑州纬达自动化科技有限公司 | The Full automatic loading system and loading method of batch cabinet class cargo |
| CN112130556B (en) * | 2020-08-19 | 2024-03-29 | 山东省科学院自动化研究所 | Robot automatic stacking and loading control system and method |
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