CN107963472A - Robot automatic loading system and method based on laser vision - Google Patents
Robot automatic loading system and method based on laser vision Download PDFInfo
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- CN107963472A CN107963472A CN201711407235.2A CN201711407235A CN107963472A CN 107963472 A CN107963472 A CN 107963472A CN 201711407235 A CN201711407235 A CN 201711407235A CN 107963472 A CN107963472 A CN 107963472A
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- robot
- compartment
- connecting rod
- automatic loading
- laser
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Classifications
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- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
Abstract
The invention discloses a kind of robot automatic loading system and method based on laser vision, which includes：Laser vision system, the real-time position information on the dimensional parameters and compartment for detecting compartment after article stacking；Transport system, for docking the article to be palletized of front end pipeline transfer and by the corresponding level height position of stacking layer in item transfer to be palletized to compartment；Robot system, coordinates with transport system, for by corresponding stacking region on article stacking to be palletized to the compartment in transport system；Control system, communicates to connect with laser vision system, transport system and robot system, for receiving the information of laser vision system detectio and controlling transport system and robot system to link.It realizes the automatic loading stacking of article, and adapts to the automatic loading demand of different vehicle, simplifies the requirement of manual control, and whole system is compact-sized, occupy little space, intelligence degree is high, adaptable.
Description
Technical field
The present invention relates to article transportation art, especially, is related to a kind of automatic loading system of robot based on laser vision
System and method.
Background technology
When production is completed to need transport to send to next link dealer to other place storages or shipment, it is necessary to will
Cargo is piled up on lorry, is sent by lorry to appointed place.It is most of direct with rollgang in existing entrucking work
Compartment is connected to, stacking is completed by manually；Automation loads product, usually by product stacks on shelf or supporting plate, when needing
Want that supporting plate is then forked to the edge for being placed on lorry during entrucking by fork truck together with cargo, then again by manpower by cargo code extremely
Inside lorry, artificial working strength can only be suitably reduced, substantially or manually；Meanwhile the either larger article of weight
Or dangerous material all can there are larger security risk to staff.In order to improve production efficiency, more existing entrucking is set
It is standby that conveyer belt can be set to transport article, while coordinate robot to pile up article on lorry.These conveyer belts and robot one
As be fixedly mounted on beside lorry, the handgrip of robot is removed article from conveyer belt and then is placed to lorry.This kind of entrucking
The degree of automation of equipment is higher, but due to not possessing the function of autonomous classification vehicle and compartment, it is desirable to vehicle dimension must be consolidated
Fixed, vehicle parking must be accurate, and the height of robot and handgrip length are again relatively limited, and the length of lorry is larger, causes
The working region of single machine people is very small.
CN203806728U discloses a kind of entrucking robot, and automobile and delivery track are placed in below gantry crane, gantry crane
It can realize that x directions are moved by ground roller-way.Machine handgrip is placed on gantry crane, it can be achieved that the movement in y, z direction.But the entrucking
Robot has the disadvantage that：1st, the program takes up a large area spatial altitude and width, it is necessary to larger；2nd, overall package degree
Low, multi-shaft interlocked stability can decline；3rd, without vision guide, the limited vehicle surveyed and drawn in advance can only be applicable in, and need vapour
Car is stopped accurate.
The content of the invention
The present invention provides a kind of robot automatic loading system and method based on laser vision, to solve existing dress
Car system can not meet automatic loading demand and can not adapt to the technical problem of the entrucking demand of different size automobiles.
The technical solution adopted by the present invention is as follows：
According to an aspect of the present invention, there is provided a kind of robot automatic loading system based on laser vision, for pair
Automobile bodies are positioned and article to be palletized are automatically transferred on compartment corresponding stacking region, and robot of the present invention is automatic
Loading system includes：
Laser vision system, the real-time position information on the dimensional parameters and compartment for detecting compartment after article stacking；
Transport system, for docking the article to be palletized of front end pipeline transfer and by item transfer to be palletized to compartment
The corresponding level height position of stacking layer；
Robot system, coordinates with transport system, for by the article stacking to be palletized in transport system to phase on compartment
The stacking region answered；
Control system, communicates to connect with laser vision system, transport system and robot system, for receiving laser video
Feel the information of system detectio and control transport system and robot system to link.
Further, robot system includes being divided into the Liang Ge robots of transport system both sides, laser vision system bag
At least two laser line generators and at least one dot laser are included, at least two laser line generators are symmetrically disposed in Liang Ge robots,
At least one dot laser is set up in the mounting bracket on compartment, mobile drive of at least two laser line generators in robot
Lower scanning obtains the length in compartment, width parameter, and at least one dot laser, which is used to scan, obtains article on compartment or compartment
Height parameter.
Further, transport system includes being used for docking the horizontal feed line of front end pipeline, the linking of horizontal feed line with
The oblique pipeline of its setting that is in the tilted angle, the end of oblique pipeline are connected to the roller-way conveying of horizontal feed article to be palletized
Line, horizontal feed line and the joining place of oblique pipeline are equipped with longitudinally disposed first connecting rod, oblique pipeline and roller bed conveying line
Joining place is equipped with longitudinally disposed second connecting rod, further includes connection first connecting rod, the third connecting rod of second connecting rod, horizontal feed line
The quadric chain formed between roller bed conveying line through first connecting rod, second connecting rod, third connecting rod and oblique pipeline is connected；
Transport system, which further includes to be arranged at, is used for the lifting device for adjusting roller bed conveying line height and position on horizontal feed line,
Lifting device is communicated to connect with control system.
Further, horizontal feed line forms the first hinge joint with oblique pipeline junction, and first connecting rod is through the first oblique pull
Bar is fixedly connected with 90 °, roller bed conveying line and the second hinge joint of oblique pipeline junction formation, second connecting rod with horizontal feed line
In 90 °, third connecting rod and the 3rd hinge joint of second connecting rod junction formation are fixedly connected with roller bed conveying line through the second brace,
Third connecting rod forms the 4th hinge joint with first connecting rod junction.
Further, horizontal feed line is additionally provided with the extension section of horizontal direction extension, lifting device outside the first hinge joint
On extension section.
Further, lifting device is hoist engine, and hoist engine connects third connecting rod and/or second connecting rod through steel wire rope.
Further, robot automatic loading system is further included for detecting roller bed conveying line horizontal level and/or height
The displacement sensor of position, control system connection displacement sensor simultaneously control robot system displacement.
Further, displacement sensor is the draw-wire displacement sensor on extension section.
Further, roller bed conveying line is equipped with the bit-avoiding slot that article to be palletized is captured easy to robot system.
According to another aspect of the present invention, a kind of robot automatic loading method based on laser vision is also provided, is used
The above-mentioned robot automatic loading system based on laser vision, the method for the present invention comprise the following steps：
Control system receives the positions and dimensions parameter in the compartment of laser vision system detectio, and requires to establish according to entrucking
Entrucking coordinate system；
Control system controls transport system and robot system to move to designated position according to entrucking coordinate system；
Control system control robot system shifted online from transport system article to be palletized to compartment corresponding heap
Pile region, and according to the location parameter adjustment transport system of stacking article on compartment and/or the position of robot system, until complete
Into entrucking.
The invention has the advantages that：
Robot automatic loading system and method for the invention based on laser vision, pass through laser vision system automatic identification
Real-time position information on the position of vehicle car, dimensional parameters and compartment after article stacking, control system receive laser vision
System detectio information control transport system and robot system linkage, from by article to be palletized through transport system be transferred to
The corresponding level height position of stacking layer on compartment, and capture article through robot system and shift stacking automatically, it is realized
The automatic loading stacking of article, and the automatic loading demand of different vehicle is adapted to, and transport system and robot system can
Linkage is realized under control of the control system, simplifies the requirement of manual control, and whole robot automatic loading system structure
It is compact, occupy little space, intelligence degree is high and adaptable, be particularly suitable for that sanitary grade requirement is high or dangerous material
Automatic stacking field.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to accompanying drawings, the present invention is described in further detail.
Brief description of the drawings
The attached drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its explanation is used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is that the overall principle square frame of robot automatic loading system of the preferred embodiment of the present invention based on laser vision shows
It is intended to；
Fig. 2 is the planar structure schematic diagram of transport system in the preferred embodiment of the present invention；
Fig. 3 is the dimensional structure diagram of transport system in the preferred embodiment of the present invention.
Description of reference numerals：
100th, laser vision system；
200th, transport system；
300th, robot system；
400th, control system；
1st, horizontal feed line；2nd, oblique pipeline；
3rd, roller bed conveying line；4th, first connecting rod；
5th, second connecting rod；6th, third connecting rod；
7th, lifting device；8th, the first hinge joint；
9th, the first brace；10th, the second hinge joint；
11st, the second brace；12nd, the 3rd hinge joint；
13rd, the 4th hinge joint；14th, extension section；
15th, steel wire rope；16th, bit-avoiding slot.
Embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.Below with reference to the accompanying drawings and the present invention will be described in detail in conjunction with the embodiments.
The preferred embodiment of the present invention provides a kind of robot automatic loading system based on laser vision, for vapour
Car compartment is positioned and article to be palletized is automatically transferred on compartment corresponding stacking region, with reference to Fig. 1, machine of the present invention
People's automatic loading system includes：
Laser vision system 100, the real time position letter on the dimensional parameters and compartment for detecting compartment after article stacking
Breath；
Transport system 200, for docking the article to be palletized of front end pipeline transfer and by item transfer to be palletized to car
The corresponding level height position of stacking layer on railway carriage or compartment；
Robot system 300, coordinates with transport system 200, for by the article stacking to be palletized in transport system 200 extremely
Corresponding stacking region on compartment；
Control system 400, communicates to connect with laser vision system 100, transport system 200 and robot system 300, uses
In the information for receiving the detection of laser vision system 100 and transport system 200 and robot system 300 is controlled to link.
The present embodiment passes through article code on the position of laser vision system automatic identification vehicle car, dimensional parameters and compartment
Real-time position information after pile, control system receive the information control transport system and robot system of laser vision system detectio
Linkage, level height position corresponding with stacking layer on compartment is transferred to from by article to be palletized through transport system, and through machine
Device people's system grabs article simultaneously shifts stacking automatically, it realizes the automatic loading stacking of article, and adapts to different vehicle
Automatic loading demand, and transport system and robot system can realize linkage under control of the control system, simplify manually
The requirement of control, and whole robot automatic loading system is compact-sized, occupy little space, intelligence degree is high and adaptability
By force, it is particularly suitable for the automatic stacking field of sanitary grade requirement height or dangerous material.
In the present embodiment, transport system 200 is located at the top of vehicle car docks, and robot system 300 includes dividing
Liang Ge robots arranged on 200 both sides of transport system, Ji Liangge robots are located at the both sides in compartment, and it is suitable for all open
Compartment, and compact overall structure, occupy little space.In the present embodiment, laser vision system 100 includes at least two laser line generators
And at least one dot laser, at least two laser line generators are symmetrically disposed in Liang Ge robots, at least one dot laser frame
In the mounting bracket on compartment, at least two laser line generators scan the length for obtaining compartment under the mobile drive of robot
Degree, width parameter, at least one dot laser are used to scan the height parameter for obtaining article on compartment or compartment.
The present embodiment laser vision system 100 is as follows to the testing principle of vehicle car：
1st, automobile enters tunnel, rests in the parking area specified.Preferably, parking area is equipped with and stops for steer motor
With coming to the compartment front end of designated position graticule；
2nd, the robot of both sides carries laser line generator from compartment tail end forward end motion scan, finds out compartment end and afterbody
Position, compartment length and width and the parameter value of side plate height can be obtained according to robot location's relation；
3rd, the parameter value of height of wagon is obtained according to the dot laser detection on compartment；
4th, the parameter value for detecting acquisition is fed back to control system by laser vision system, so that control system is according to laser video
Feel the parameter value planning entrucking that system detectio obtains.
The present embodiment robot automatic loading system carries out utilizing laser vision system pair during automatic loading operation
The flow of compartment positioning is as follows：
1st, automobile enters tunnel, compartment front end graticule in alignment；
2nd, both sides robot carries laser line generator from compartment tail end forward end motion scan, until occurring car in scan image
Railway carriage or compartment shape, can calculate position of the compartment relative to laser line generator according to scan image, can similarly calculate opposite side compartment
Relative to the position of another laser, while the position relationship between known two laser line generators, therefore can directly calculate again
Go out the width of the position relationship of compartment both sides, i.e. compartment.The Computing Principle of car length is same as above.
3rd, height of wagon is directly calculated according to dot laser measurement distance；
4th, after car position change, laser scanning image can also follow change, can calculate compartment relative to robot position
The variable quantity put.
The flow of control system progress stacking control is as follows in the present embodiment robot automatic loading system：
The length and width and height in compartment are calculated by initial alignment, and system pre-sets the length of article to be palletized, into
And the number of plies of article stacking is calculated, can design the horizontal stroke of disposing way such as two one according to the difference of overall width erects, a two perpendicular horizontal grade codes
Pile mode.After robot location changes, new position of the compartment relative to robot, this opportunity have been calculated by previous step
Device people need to only utilize the new position in compartment front end, and follow-up stacking can be carried out according to the length and width and height of article (such as cement bag)
Constant offset.
In the present embodiment, it is preferable that during robot manipulating task by control system according to the figure that laser vision system scans into
Row vision positioning pick-and-place.Concrete principle is：Laser vision system is by scanning XYZ data, by first release position of robot
Position is bound, and the XYZ numerical value that subsequent vehicle scans calculates (Δ X, Δ Y, Δ compared with the XYZ numerical value demarcated
), Z first release position point data coordinate of robot (X=X1+ Δs X, Y=Y1+ Δ Y, Z=Z1+ Δ Z).Other launch coordinate points
All it is that offset is carried out on the basis of first point：For example, bag of cement length 600, wide by 400, coordinate X=600*N+400*M+X1.Always
Solid offsetting number is adjusted according to the size of car.
Referring to Fig. 2 and Fig. 3, in the present embodiment, transport system 200 includes being used for the horizontal feed line for docking front end pipeline
1, the linking of horizontal feed line 1 and the oblique pipeline 2 of its setting that is in the tilted angle, it is defeated that the end of oblique pipeline 2 is connected to level
The roller bed conveying line 3 of article to be palletized is sent, horizontal feed line 1 and the joining place of oblique pipeline 2 connect equipped with longitudinally disposed first
Bar 4, the joining place of oblique pipeline 2 and roller bed conveying line 3 are equipped with longitudinally disposed second connecting rod 5, further include connection first connecting rod
4th, the third connecting rod 6 of second connecting rod 5, through first connecting rod 4, second connecting rod the 5, the 3rd between horizontal feed line 1 and roller bed conveying line 3
Connecting rod 6 and the quadric chain linking that tiltedly pipeline 2 is formed；Transport system 200, which further includes to be arranged on horizontal feed line 1, to be used for
The lifting device 7 of 3 height and position of roller bed conveying line is adjusted, lifting device 7 is communicated to connect with control system 400.
In the present embodiment, horizontal feed line connects roller bed conveying line through quadric chain, to ensure to adjust in high process
Roller bed conveying line remains horizontal.Specifically, with reference to Fig. 1, horizontal feed line 1 the first hinge is formed with oblique 2 junction of pipeline
Contact 8, first connecting rod 4 are fixedly connected with 90 °, roller bed conveying line 3 and oblique pipeline 2 through the first brace 9 with horizontal feed line 1
Junction formed the second hinge joint 10, second connecting rod 5 be fixedly connected through the second brace 11 with roller bed conveying line 3 it is in 90 °, the 3rd
Connecting rod 6 forms the 3rd hinge joint 12 with 5 junction of second connecting rod, and third connecting rod 6 forms the 4th with 4 junction of first connecting rod and is hinged
Point 13.First connecting rod 4, oblique pipeline 2, second connecting rod 5 and third connecting rod 6 form four Essential Edges of quadric chain, and the
One connecting rod 4 and horizontal feed line are affixed in 90 °, second connecting rod 5 consolidated with roller bed conveying line 3 it is in 90 °, so as to ensure boosted dress
Roller bed conveying line 3 is in horizontality when putting the height of the oblique pipeline 2 of 7 adjustings, easy to the robot coordinated with roller bed conveying line 3
Online transfer, stacking article, so as to fulfill the automatic loading demand of article.
In the present embodiment, horizontal feed line 1 is additionally provided with the extension section 14 of horizontal direction extension outside the first hinge joint 8, carries
Device 7 is risen to be arranged on extension section 14.Preferably, lifting device 7 is hoist engine, and hoist engine connects third connecting rod 6 through steel wire rope 15
And/or second connecting rod 5.In the present embodiment, oblique pipeline 2 is driven highly to adjust through steel wire rope 15 by using electrical hoist,
Height so as to fulfill the roller bed conveying line of horizontality is adjusted.Preferably, in the present embodiment, transport system 200 further includes use
In detection 3 horizontal level of roller bed conveying line and/or the displacement sensor of height and position, control system connection displacement sensor is simultaneously controlled
Robot displacement processed.It is highly preferred that the displacement sensor uses the draw-wire displacement sensor being arranged on extension section 14, through drawstring
The mechanical movement campaign of steel wire rope 15 is converted to electric signal by formula displacement sensor, and encoded device is scaled roller bed conveying line 3
Horizontal level and height and position detection, horizontal level and/or height position signal controller people of the control system according to reception
Horizontal level and/or height and position adjust, so as to fulfill the connection of robot and roller bed conveying line in horizontal and short transverse
Dynamic control.The present embodiment robot automatic loading system, on the one hand can ensure roller bed conveying line and robot in horizontal direction
Mobile phase with distance, on the other hand, when can ensure the rise of the stacking number of plies, roller bed conveying line and robot can be increased to pair
The number of plies height answered.
The present embodiment detects the distance moved horizontally for feeding back transport system by draw-wire displacement sensor and roller-way is defeated
The displacement of line sending height, so that ensure that transport system moves horizontally distance and moved unanimously with robot, roller bed conveying line height
Position and stacking layer height location matches.Preferably, robot system includes being symmetrically disposed on the Liang Ge robots of compartment both sides,
Stacking efficiency is improved so as to fulfill alternately operating.Preferably, the present embodiment robot automatic loading system further includes the machine of being arranged at
It is used for the movable roller way that robot moves horizontally under device people, increases the working range of robot, and using the knot of bilateral layout
Structure, realizes the effect that optimal spatial utilizes.
Preferably, roller bed conveying line 3 is equipped with the bit-avoiding slot 16 that article to be palletized is captured easy to robot, so as to facilitate machine
The quick crawl of device people's handgrip.
In the present embodiment, horizontal feed line 1 and/or oblique pipeline 2 are belt conveyor line or other roller type pipelines.
Preferably, the present embodiment is coordinated using horizontal belt pipeline and oblique belt conveyor line, easy to the online transfer to article, is avoided
Article stacking or clamping stagnation in transmittance process.
Existing dispatching stacking labor intensity of carrying is high, with low content of technology, causes that amount of labour demanded is big, Ren Yuanliu
Dynamic property is strong, is the severely afflicated area of recruitment famine, also most strong to the demand of automation equipment.And currently disappear in raw material, soon product, agricultural
In terms of the logistics for herding the products such as secondary fishing, main power is all to lean on automobile, and automobile loading still can not realize automatic loading.Mainly
Reason is that lorry size is different, it is difficult to realizes automatic loading by conventional art.For another industrial chemicals factory, packing factory, also have
On some bulky objects.Some products are just harmful to human body itself, and as medicine, microorganism formulation etc., these are to human body
Harmful product.Also sanitary grade requires high product, such as food, medicine, labware etc., is also badly in need of breaking away from manually
Carry to improve management and control.The present embodiment robot automatic loading system successfully solves this difficult point, applicable various open
Automobile bodies, compatibility is strong, and the stop to vehicle requires low, has extensive application value.
According to another aspect of the present invention, a kind of robot automatic loading method based on laser vision is also provided, is used
The robot automatic loading system based on laser vision of above-described embodiment, the present embodiment method comprise the following steps：
Control system 400 receives the positions and dimensions parameter in the compartment of the detection of laser vision system 100, and will according to entrucking
Ask and establish entrucking coordinate system；
Control system 400 controls transport system 200 and robot system 300 to move to specific bit according to entrucking coordinate system
Put；
Control system 400 controls robot system 300 to shift article to be palletized online from transport system 200 to compartment
Corresponding stacking region, and according to the location parameter adjustment transport system 200 and/or robot system of stacking article on compartment
200 position, until completing entrucking.
In one preferred embodiment, robot automatic loading control method comprises the following steps：
1st, automobile enters tunnel, compartment front end graticule in alignment.
2nd, laser vision system detectio obtains position and the dimensional parameters in compartment；Both sides robot carries laser line generator from car
Railway carriage or compartment tail end forward end motion scan, until occurring compartment shape in scan image, compartment phase can be calculated according to scan image
For the position of laser line generator, position of the opposite side compartment relative to another laser can be similarly calculated, at the same it is again known
Position relationship between two laser line generators, therefore can directly calculate the width of the position relationship, i.e. compartment of compartment both sides.Together
Reason, detection obtain the parameter of car length.Height of wagon is directly calculated according to dot laser measurement distance.
3rd, control system establishes entrucking coordinate system according to the parameter information of laser vision system detectio and entrucking requirement.
In this step, calculate the length and width and height in compartment by initial alignment, and control system pre-set article to be palletized length and width,
High (known parameters), and then the number of plies of article stacking is calculated, disposing way such as two horizontal strokes one can be designed according to the difference of overall width
Perpendicular, a two perpendicular horizontal grade stacking modes establish entrucking coordinate system.
4th, control system control transport system 200 and robot system 300 move to designated position according to entrucking coordinate system；
5th, the Liang Tai robots of control system control robot system alternately capture article to be palletized from transport system front end
(such as bag of cement), and carry out palletizing operation according to entrucking Coordinate Setting coordinate.In the present embodiment, it is preferable that robot manipulating task
When the figure that is scanned by control system according to laser vision system carry out vision positioning pick-and-place.Concrete principle is：Laser vision system
System is bound first release position position of robot, the XYZ numerical value that subsequent vehicle scans by scanning XYZ data
Compared with the XYZ numerical value of calibration, calculate (Δ X, Δ Y, Δ Z), first release position point data coordinate (X=of robot
X1+ Δs X, Y=Y1+ Δ Y, Z=Z1+ Δ Z).It is all that offset is carried out on the basis of first point that other, which launch coordinate points,：For example,
Bag of cement length 600, wide by 400, coordinate X=600*N+400*M+X1.Overall offset number is adjusted according to the size of car.
6th, control system receives the location parameter of laser vision system detectio after car position change, and it is opposite to calculate compartment
In the variable quantity of robot location；Continuation code is put after control transport system and robot system movement setpoint distance；
7th, after having piled up requested number, robot and transport system return to initial position, and prompt driver's entrucking to complete.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot automatic loading system based on laser vision, for being positioned to automobile bodies and by thing to be palletized
Product are automatically transferred on the compartment corresponding stacking region, it is characterised in that the robot automatic loading system includes：
Laser vision system (100), it is real-time after article stacking on the dimensional parameters and the compartment for detecting the compartment
Positional information；
Transport system (200), for dock the article to be palletized of front end pipeline transfer and by the item transfer to be palletized extremely
The corresponding level height position of stacking layer on the compartment；
Robot system (300), coordinates with the transport system (200), for described in the transport system (200) to be treated
Corresponding stacking region on stacking article stacking to the compartment；
Control system (400), with the laser vision system (100), the transport system (200) and the robot system
(300) communicate to connect, for receiving the information of laser vision system (100) detection and controlling the transport system
(200) and the robot system (300) links.
2. the robot automatic loading system according to claim 1 based on laser vision, it is characterised in that
The robot system (300) includes being divided into the Liang Ge robots of the transport system (200) both sides, the laser video
Feel system (100) includes at least two laser line generators and at least one dot laser, and at least two laser line generator is symmetrically set
It is placed in described two robots, at least one dot laser is set up in the mounting bracket on the compartment, described
At least two laser line generators scan the length for obtaining the compartment, width parameter under the mobile drive of the robot, described
At least one dot laser is used to scan the height parameter for obtaining article on the compartment or compartment.
3. the robot automatic loading system according to claim 1 based on laser vision, it is characterised in that
The transport system (200) includes being used for the horizontal feed line (1) for docking front end pipeline, the horizontal feed line (1)
It is connected the oblique pipeline (2) with its setting that is in the tilted angle, the tiltedly end of pipeline (2) is connected to horizontal feed and treats code
The joining place of the roller bed conveying line (3) of pile article, the horizontal feed line (1) and the tiltedly pipeline (2) is equipped with longitudinally disposed
First connecting rod (4), the joining place of tiltedly pipeline (2) and the roller bed conveying line (3) is equipped with longitudinally disposed second and connects
Bar (5), further includes the connection first connecting rod (4), the third connecting rod (6) of the second connecting rod (5), the horizontal feed line
(1) between the roller bed conveying line (3) through the first connecting rod (4), the second connecting rod (5), the third connecting rod (6) and
The quadric chain linking that pipeline (2) is formed described tiltedly；
The transport system (200), which further includes to be arranged on the horizontal feed line (1), to be used to adjust the roller bed conveying line (3)
The lifting device (7) of height and position, the lifting device (7) communicate to connect with the control system (400).
4. the robot automatic loading system according to claim 3 based on laser vision, it is characterised in that
The horizontal feed line (1) forms the first hinge joint (8), the first connecting rod (4) with described tiltedly pipeline (2) junction
In 90 °, the roller bed conveying line (3) and the tiltedly conveying are fixedly connected with the horizontal feed line (1) through the first brace (9)
Line (2) junction forms the second hinge joint (10), and the second connecting rod (5) is through the second brace (11) and the roller bed conveying line
(3) in 90 °, the third connecting rod (6) and the 3rd hinge joint (12) of the second connecting rod (5) junction formation, institute are fixedly connected with
State third connecting rod (6) and form the 4th hinge joint (13) with the first connecting rod (4) junction.
5. the robot automatic loading system according to claim 4 based on laser vision, it is characterised in that
The horizontal feed line (1) is additionally provided with the extension section (14) of horizontal direction extension outside first hinge joint (8), described
Lifting device (7) is arranged on the extension section (14).
6. the robot automatic loading system according to claim 3 based on laser vision, it is characterised in that
The lifting device (7) is hoist engine, and the hoist engine connects the third connecting rod (6) and/or institute through steel wire rope (15)
State second connecting rod (5).
7. the robot automatic loading system according to claim 5 based on laser vision, it is characterised in that
The robot automatic loading system is further included for detecting the roller bed conveying line (3) horizontal level and/or height position
The displacement sensor put, the control system (400) connect institute's displacement sensors and control the robot system (300) position
Move.
8. the robot automatic loading system according to claim 7 based on laser vision, it is characterised in that
Institute's displacement sensors are the draw-wire displacement sensor on the extension section (14).
9. according to any robot automatic loading system based on laser vision of claim 3 to 8, it is characterised in that
The roller bed conveying line (3) is equipped with the bit-avoiding slot that the article to be palletized is captured easy to the robot system (300)
(16)。
A kind of 10. robot automatic loading method based on laser vision, it is characterised in that any using such as claim 1 to 9
The robot automatic loading system based on laser vision, the described method comprises the following steps：
Control system (400) receives the positions and dimensions parameter in the compartment of laser vision system (100) detection, and will according to entrucking
Ask and establish entrucking coordinate system；
Control system (400) control transport system (200) and robot system (300) move to finger according to the entrucking coordinate system
Positioning is put；
Control system (400) control robot system (300) shifts article to be palletized extremely online from the transport system (200)
Corresponding stacking region on the compartment, and the transport system (200) is adjusted according to the location parameter of stacking article on compartment
And/or the position of the robot system (200), until completing entrucking.
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