CN108082944B - Mobile palletizing system - Google Patents
Mobile palletizing system Download PDFInfo
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- CN108082944B CN108082944B CN201711395102.8A CN201711395102A CN108082944B CN 108082944 B CN108082944 B CN 108082944B CN 201711395102 A CN201711395102 A CN 201711395102A CN 108082944 B CN108082944 B CN 108082944B
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/09—Stacking of articles by adding to the top of the stack from alongside
- B65G57/10—Stacking of articles by adding to the top of the stack from alongside by devices, e.g. reciprocating, acting directly on articles for horizontal transport to the top of stack
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- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses a kind of mobile palletizing systems, comprising: mobile platform, for carrying out the movement of system；Hoistable platform, for placing cargo to be palletized, level is fixed on the upper surface of mobile platform, and elevating movement is arranged its table top for being located at top along the vertical direction；Stacking mechanism, for level to push to stacking region from hoistable platform by cargo；Control unit, for controlling mobile platform, the movement of hoistable platform and the movement of stacking mechanism and push according to the process instruction of processing unit；Identification module, for identification the profile of cargo and push face；Processing unit, the profile of cargo for being identified according to identification module and push face obtain the movement to stacking mechanism and push control instruction and instruct to the elevating control of hoistable platform, the movement of stacking mechanism is carried out by control unit and push controls and the elevating control of hoistable platform, it is also used to set mobile control instruction according to default rule, by the movement of control unit control mobile platform.
Description
Technical field
The present invention relates to technical field of mechanical automation, in particular to a kind of mobile palletizing system.
Background technique
Logistics labour in for the ease of cargo packing and transporting, it will usually first cargo is packed together, then to cargo into
Row is redistributed.Stacking belongs to the essential step of plant produced, logistics transportation.Palletizer currently on the market,
It is essentially all after lifting the cargo that conveyer belt etc. ships by mechanical arm, to be moved to stacking target location.This stacking is set
Standby often volume is big, weight weight, it is difficult to and it is mobile, it is typically fixed to a place and uses.
Existing movable type Palletizer, is often researched and developed for specific products and specific stacking path, versatility is not
By force, moreover, because and lifted by the way of cargo carries out stacking again using mechanical arm, cause overall weight very big, need higher
Operating space, energy consumed by stacking is also very high.
Limited for warehouse space, there are the ground that the position of the packaging of plurality of specifications and stacking needs often to change for cargo
Side, the limitation that existing Palletizer is limited to space, versatility or mobility etc. can not carry out effective stacking.
Summary of the invention
In order to solve the above problem, the present invention provides a kind of mobile palletizing systems.
A kind of mobile palletizing system provided by the invention, comprising:
Mobile platform, for carrying out the movement of system；
Hoistable platform, for placing cargo to be palletized, level is fixed on the upper surface of mobile platform, and its position
Elevating movement is arranged table top in top along the vertical direction；
Stacking mechanism, for level to push to stacking region from hoistable platform by cargo；
Control unit, for controlling mobile platform, the movement of hoistable platform and code according to the process instruction of processing unit
The movement and push of stack machine structure；
Identification module, for identification the profile of cargo and push face；
Processing unit, the profile of the cargo for being identified according to identification module and push face obtain the shifting to stacking mechanism
It moves and pushes control instruction and the elevating control of hoistable platform is instructed, and by the movement and push control instruction and the liter
Drop control instruction is sent to control unit, and movement and push control and the hoistable platform of stacking mechanism are carried out by control unit
Elevating control is also used to set mobile control instruction according to default rule, and the mobile control instruction is sent to control
Unit, by the movement of control unit control mobile platform.
Preferably, the mobile palletizing system, further includes:
Scaling platform is connect with the table top of the hoistable platform one end, and the table top of scaling platform is along separate and lean on
The nearly hoistable platform mode moves back and forth setting, what the movement of the scaling platform was sent by control unit according to processing unit
Scaling platform control instruction is controlled；
The scaling platform control instruction that the processing unit is sent is obtained by processing unit according to the range of the stacking of setting；
The scaling platform control instruction is used to determine the collapsing length of scaling platform according to the range of stacking, so that flexible after flexible
Platform can cover stacking range.
Preferably,
The profile of the identification cargo and push face, including identified by computer vision.
Preferably,
The stacking mechanism, the push plate including 2 or 2 or more independent controls, the push plate is for direct and cargo
Contact, pushes to stacking region for cargo level；
The push face, including the identical push face of push plate quantity with independent control, the push face is used for stacking machine
The contact of structure pushes；
The processing unit is also used to the push face according to the cargo, obtains the first control instruction of push plate, comprising:
Push plate contacts push face, and the judgement of the contact carries out identification judgement by identification module；
Around Pivot axle revolving push plank to rotate cargo by push plate, make the geometric direction of cargo and the cargo stacking
The difference of anticipated orientation be less than preset first threshold value, the geometric direction of the cargo identified by identification module, the cargo
The anticipated orientation of stacking is obtained by processing unit according to preset stacking rule, wherein Pivot axle be cargo centroid and
The straight line vertical with hoistable platform upper surface；
Along target vector translate push plate, the target vector be using cargo centroid as starting point, it is several with the expection of cargo stacking
What centroid is the vector of terminal, and the cargo centroid is identified by identification module, the expection geometric centroid of the cargo stacking
It is obtained by processing unit according to preset stacking rule.
Preferably,
The identification module is also used to identify that, currently by the movement of the cargo of stacking, the recognition methods of the movement includes
It is identified by computer vision；
The processing unit is also used to the movement according to the cargo, obtains the control instruction of the second push plate, comprising:
When the rotation angle in the rotative component in the movement of cargo is not more than default second threshold, push plate keeps movement
Cargo until is pushed into the desired location of cargo stacking by state, and the desired location of the cargo stacking is by processing unit according to default
Stacking rule obtain；
When the rotation angle in the rotative component in the movement of cargo is greater than default second threshold, in current rotation
Mandrel revolving push plank, until the rotation angle in the rotative component in the movement of cargo be not more than threshold rotating value, continue edge later
Cargo until is pushed into the desired location of cargo stacking by target vector translation push plate.
Preferably,
The geometric direction of the cargo, is determined by following methods:
Processing unit obtains cargo approximation cuboid to the recognition result of cargo by identification module, and the cargo is approximate
Cuboid is identical as the cargo and maximum cuboid of common volume with cargo of volume, a face of the cuboid and lifting
The top surface of platform is parallel；
It is approximate long as cargo using the normal direction in 4 face vertical with the top surface of hoistable platform of cargo approximation cuboid
The comparison direction of cube；
Made with the direction on the smallest side of the flat angle of Bian Zhongyu target vector of the minimum circumscribed rectangle of the top surface of hoistable platform
It is positive for the push of hoistable platform；
Using in the comparison direction of approximate cuboid with the positive the smallest direction of angle of the push of hoistable platform as cargo
Geometric direction；
Rotative component in the movement of the cargo is the variable quantity of the geometric direction of cargo.
Preferably,
When cargo approximation cuboid is not unique, will be pushed away in the comparison direction of all approximate cuboids with hoistable platform
Send geometric direction of the smallest direction of positive angle as cargo.
Preferably,
The identification module is also used to identify the shape of goods packing and the material of goods packing, the material of goods packing
The recognition methods of matter are as follows: by every kind prestored in the characteristics of image and processing unit of goods packing pack material characteristics of image into
Row comparison, when the difference of the characteristics of image with certain packaging material is minimum and is lower than preset value, the packaging material is quilt
The material of the goods packing of identification；
The processing unit is also used to the stacking of the material setting cargo of the shape and goods packing according to goods packing
Highly, the setting method are as follows:
Unit rectangles corresponding to the shape of the goods packing prestored in query processing unit and the material of goods packing
The stability height of area, the stability height indicate to remain under the action of the pile under the height piles up preset perturbed force
It keeps stablizing, when the height of pile heap is more than stability height, the stability of pile heap cannot be guaranteed, the stability height is by trying
It tests data or emulation data obtains；
The stacking height of cargo, first formula are set according to the first formula are as follows:
H=kda
Wherein, H is the stacking height of cargo, and k is the stability height of unit rectangular area, and d is cargo stacking region
The length of short side, a are preset correction factor, and value is the positive real number less than 1.
Optionally, the stacking mechanism includes first mechanical arm, second mechanical arm and pushes face, the first mechanical arm
One end is rotatablely connected by the first driving motor and the hoistable platform, and the second mechanical arm is rotated by the second driving motor
It is connected to first mechanical arm, the push face is connected at the one end of the second mechanical arm far from the second driving motor；
When processing unit determines mobile cargo according to the positional relationship between push face central point and the hoistable platform of cargo
Stacking path and stacking direction, and determine the vertical range d between first driving motor and the stacking path；
After the push face of the stacking mechanism reaches at cargo, it is clockwise that processing unit controls first driving motor
Uniform rotation, and the first angle α between the outreach direction of the first mechanical arm and the stacking direction is determined in real time, it is described
The outreach direction of first mechanical arm is from first driving motor to the direction of second driving motor；
The processing unit is also used to adjust described second in real time by the rotation for controlling second driving motor mechanical
The second angle β between the outreach direction of arm and the outreach direction of the first mechanical arm, the outreach side of the second mechanical arm
Second driving motor described in Xiang Weicong to the push face direction, and:
Wherein, l1For the length of the first mechanical arm, l2For the length of the second mechanical arm, and second mechanical arm
Angle between outreach direction and stacking direction is acute angle,
After the cargo is moved to preset stacking region, the processing unit control first driving motor and
Second driving motor stops working；
WhenWhen, the processing unit controls first driving motor and described the
Two driving motors stop working and issue alarm.
Some beneficial effects of the invention may include:
A kind of mobile palletizing system provided by the invention, is able to solve existing Palletizer and is easy to be limited by space
It makes, the problem that versatility and mobility are poor, so as to flexibly for more needing the environment of stacking, improve under these environment
Stacking efficiency.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of schematic diagram of mobile palletizing system in the embodiment of the present invention；
Fig. 2 is the schematic diagram of stacking mechanism when overlooking the palletizing system in the embodiment of the present invention；
In figure, 4-1: push face；4-2: first mechanical arm；4-3: second mechanical arm；4-4: the first driving motor；4-5: the
Two driving motors.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Fig. 1 is a kind of schematic diagram of mobile palletizing system in the embodiment of the present invention.As shown in Figure 1, provided by the invention
A kind of movable type palletizing system, comprising:
Mobile platform, for carrying out the movement of system；
Hoistable platform, for placing cargo to be palletized, level is fixed on the upper surface of mobile platform, and its position
Elevating movement is arranged table top in top along the vertical direction；
Stacking mechanism, for level to push to stacking region from hoistable platform by cargo；
Control unit, for controlling mobile platform, the movement of hoistable platform and code according to the process instruction of processing unit
The movement and push of stack machine structure；
Identification module, for identification the profile of cargo and push face；
Processing unit, the profile of the cargo for being identified according to identification module and push face obtain the shifting to stacking mechanism
It moves and pushes control instruction and the elevating control of hoistable platform is instructed, and by the movement and push control instruction and the liter
Drop control instruction is sent to control unit, and movement and push control and the hoistable platform of stacking mechanism are carried out by control unit
Elevating control is also used to set mobile control instruction according to default rule, and the mobile control instruction is sent to control
Unit, by the movement of control unit control mobile platform.
In order to reduce demand of the system to space, device miniaturization can be made using the push operation in plane, do not needed
Biggish space.Meanwhile using push rather than grabbing, it can be adapted for the goods packing of different size, increase system
Versatility, while relative to grasping mechanism, flat-pushing stacking mechanism also reduces the weight of system, and further, will know
The calculating section and processing unit of other module are set to except mobile platform, by the component on wireless network and mobile platform into
Row communication, so as to further increase the locomotivity of system.
The stowed location of every cargo is different when due to stacking, can make system in order to not need mobile whole system
Suitable for such case, change the stacking of cargo, in one embodiment of the invention, institute by increasing a scaling platform
State mobile palletizing system, further includes:
Scaling platform is connect with the table top of the hoistable platform one end, and its table top is along the separate and close liter
It drops flat-bed format and moves back and forth setting, the scaling platform that the movement of the scaling platform is sent by control unit according to processing unit
Control instruction is controlled；
The scaling platform control instruction that the processing unit is sent is obtained by processing unit according to the range of the stacking of setting；
The scaling platform control instruction is used to determine the collapsing length of scaling platform according to the range of stacking, so that flexible after flexible
Platform can cover stacking range.
In order to increase the stability of system normal operation, need to reduce the quantity of sensor etc., in a reality of the invention
It applies in example,
The profile of the identification cargo and push face, including identified by computer vision.
In order to prevent in palletization, cargo unbalance stress causes have the appearance of situations such as larger rotation when goods movement,
It is even stacked the problems such as unstable to cause cargo when stacking to stack low efficiency, while also to avoid directly using stacking mechanism
The problem of cargo be easy to cause cargo to damage is clamped, needs to be limited the movement of cargo with multiple push plates, and is optically come
The distance between push plate and cargo are limited, avoids pressing from both sides bad cargo, in one embodiment of the invention,
The stacking mechanism, the push plate including 2 or 2 or more independent controls, the push plate is for direct and cargo
Contact, pushes to stacking region for cargo level；
The push face, including the identical push face of push plate quantity with independent control, the push face is used for stacking machine
The contact of structure pushes；
The processing unit is also used to the push face according to the cargo, obtains the first control instruction of push plate, comprising:
Push plate contacts push face, and the judgement of the contact carries out identification judgement by identification module；
Around Pivot axle revolving push plank to rotate cargo by push plate, make the geometric direction of cargo and the cargo stacking
The difference of anticipated orientation be less than preset first threshold value, the geometric direction of the cargo identified by identification module, the cargo
The anticipated orientation of stacking is obtained by processing unit according to preset stacking rule, wherein Pivot axle be cargo centroid and
The straight line vertical with hoistable platform upper surface；
Along target vector translate push plate, the target vector be using cargo centroid as starting point, it is several with the expection of cargo stacking
What centroid is the vector of terminal, and the cargo centroid is identified by identification module, the expection geometric centroid of the cargo stacking
It is obtained by processing unit according to preset stacking rule.
The packaging of some cargos is more soft, and there may be rotations after packaging deformation in moving process, avoids this feelings
Condition needs to monitor the rotation of cargo during mobile cargo, in one embodiment of the invention,
The identification module is also used to identify that, currently by the movement of the cargo of stacking, the recognition methods of the movement includes
It is identified by computer vision；
The processing unit is also used to the movement according to the cargo, obtains the control instruction of the second push plate, comprising:
When the rotation angle in the rotative component in the movement of cargo is not more than default second threshold, push plate keeps movement
Cargo until is pushed into the desired location of cargo stacking by state, and the desired location of the cargo stacking is by processing unit according to default
Stacking rule obtain；
When the rotation angle in the rotative component in the movement of cargo is greater than default second threshold, in current rotation
Mandrel revolving push plank, until the rotation angle in the rotative component in the movement of cargo be not more than threshold rotating value, continue edge later
Cargo until is pushed into the desired location of cargo stacking by target vector translation push plate.
The packaging of some cargos is more soft, is easily deformed in moving process, in order to remain to after cargo deforms really
Whether order object has rotation, and the recognition methods in cargo direction is needed to have certain robustness, in one embodiment of the invention,
The geometric direction of the cargo, is determined by following methods:
Processing unit obtains cargo approximation cuboid to the recognition result of cargo by identification module, and the cargo is approximate
Cuboid is identical as the cargo and maximum cuboid of common volume with cargo of volume, a face of the cuboid and lifting
The top surface of platform is parallel；
It is approximate long as cargo using the normal direction in 4 face vertical with the top surface of hoistable platform of cargo approximation cuboid
The comparison direction of cube；
Made with the direction on the smallest side of the flat angle of Bian Zhongyu target vector of the minimum circumscribed rectangle of the top surface of hoistable platform
It is positive for the push of hoistable platform；
Using in the comparison direction of approximate cuboid with the positive the smallest direction of angle of the push of hoistable platform as cargo
Geometric direction；
Rotative component in the movement of the cargo is the variable quantity of the geometric direction of cargo.
Since cargo may have symmetry, such as cube, rotate 90 ° when still can normal stacking, in order to meet
The rotation angle that push plate is reduced when to such case, saves working time and workload, while processing unit being avoided numerical value occur
Problem, in one embodiment of the invention,
When cargo approximation cuboid is not unique, will be pushed away in the comparison direction of all approximate cuboids with hoistable platform
Send geometric direction of the smallest direction of positive angle as cargo.
The excessive height of stacking causes stability insufficient in order to prevent, in one embodiment of the invention,
The identification module is also used to identify the shape of goods packing and the material of goods packing, the material of goods packing
The recognition methods of matter are as follows: by every kind prestored in the characteristics of image and processing unit of goods packing pack material characteristics of image into
Row comparison, when the difference of the characteristics of image with certain packaging material is minimum and is lower than preset value, the packaging material is quilt
The material of the goods packing of identification；
The processing unit is also used to the stacking of the material setting cargo of the shape and goods packing according to goods packing
Highly, the setting method are as follows:
Unit rectangles corresponding to the shape of the goods packing prestored in query processing unit and the material of goods packing
The stability height of area, the stability height indicate to remain under the action of the pile under the height piles up preset perturbed force
It keeps stablizing, when the height of pile heap is more than stability height, the stability of pile heap cannot be guaranteed, the stability height is by trying
It tests data or emulation data obtains；
The stacking height of cargo, first formula are set according to the first formula are as follows:
H=kda
Wherein, H is the stacking height of cargo, and k is the stability height of unit rectangular area, and d is cargo stacking region
The length of short side, a are preset correction factor, and value is the positive real number less than 1.
A kind of mobile palletizing system provided by the invention, is able to solve existing Palletizer and is easy to be limited by space
It makes, the problem that versatility and mobility are poor, so as to flexibly for more needing the environment of stacking, improve under these environment
Stacking efficiency.
Optionally, shown in Figure 2, the stacking mechanism includes first mechanical arm 4-2, second mechanical arm 4-3 and push
One end of face 4-1, the first mechanical arm 4-2 are rotatablely connected by the first driving motor 4-4 and the hoistable platform, and described the
Two mechanical arm 4-3 are rotationally connected with first mechanical arm 4-2 by the second driving motor 4-5, and the push face 4-1 is connected at institute
State the one end of second mechanical arm 4-3 far from the second driving motor 4-5.
In order to cargo is horizontal from hoistable platform and linearly push to stacking region, the shifting in the embodiment of the present invention
Identification module in dynamic formula palletizing system also performs the following operations after the push face for identifying cargo:
When processing unit determines mobile cargo according to the positional relationship between push face central point and the hoistable platform of cargo
Stacking path and stacking direction, and determine the vertical range d between the first driving motor 4-4 and the stacking path；
After the push face 4-1 of the stacking mechanism is reached at cargo, processing unit controls the first driving motor 4-4
Uniform rotation clockwise, and determine in real time between the outreach direction of the first mechanical arm 4-2 and the stacking direction first
Angle α, the outreach direction of the first mechanical arm 4-2 are from the first driving motor 4-4 to the second driving motor 4-5
Direction；
The processing unit is also used to adjust second machine in real time by the rotation for controlling the second driving motor 4-5
The second angle β between the outreach direction of tool arm 4-3 and the outreach direction of the first mechanical arm 4-2, the second mechanical arm
The outreach direction of 4-3 be from the second driving motor 4-5 to the direction of the push face 4-1, and:
Wherein, l1For the length of the first mechanical arm, l2For the length of the second mechanical arm, and second mechanical arm
Angle between outreach direction and stacking direction is acute angle,
After the cargo is moved to preset stacking region, the processing unit controls the first driving motor 4-
4 and the second driving motor 4-5 stops working；
WhenWhen, the processing unit controls the first driving motor 4-4 and described
Second driving motor 4-5 stops working and issues alarm.
Specifically, in order to guarantee that push face 4-1 can be with linear type on mobile cargo to stacking region, it is required that stacking
The push face 4-1 of mechanism moves along a straight line.As shown in Fig. 2, Fig. 2 is a kind of signal of stacking mechanism when overlooking the palletizing system
Scheme, the solid arrow direction in Fig. 2 indicates stacking direction, and the solid arrow by pushing face 4-1 indicates stacking path；First drives
Vertical range between dynamic motor 4-4 and stacking path is d, at this time:
D=l1sinα+l2sin(α-β)；
From the above equation, we can see that
Wherein, l1For the length of first mechanical arm 4-2, l2For the length of second mechanical arm 4-3, α indicates first mechanical arm 4-
The first angle between 2 outreach direction and stacking direction, the outreach direction of the first mechanical arm 4-2 are to drive from described first
Motor 4-4 is moved to the direction of the second driving motor 4-5；β indicates outreach direction and the first mechanical arm of second mechanical arm 4-3
The second angle between the outreach direction of 4-2, the outreach direction of the second mechanical arm 4-3 are from the second driving motor 4-
5 arrive the direction of the push face 4-1.Meanwhile in order to guarantee that second mechanical arm 4-3 will not touch cargo, second mechanical arm 4-3
Outreach direction and stacking direction between angle be acute angle；As shown in Fig. 2, i.e. 0≤alpha-beta < 90, i.e.,
During the work time, (corresponding direction clockwise herein is can for the first driving motor 4-4 uniform rotation clockwise
So that the direction that first angle α reduces), processing unit does not need the movement for excessively paying close attention to the first driving motor 4-4.Meanwhile
Processing unit determines second angle β according to above-mentioned formula in real time, and calculation amount is small, and calculating speed is fast, can be driven by control second
The rotation of dynamic motor 4-5 quickly makes the angle between two mechanical arms be β, so that push face 4-1 is always situated in stacking path
On, guarantee linear type stacking.
After goods movement to stacking region, whenWhen, illustrate two mechanical arms it
Between angle β be zero, at this time the first driving motor 4-4 continue movement if will lead to push face 4-1 movement routine bending.Therefore
WhenWhen two driving motors stop working.
It should be noted that above-mentioned working method, which is suitable for d, is not less than l1And it is not less than l2The case where；When d does not meet this
When part, by control mobile platform the adjustable first driving motor 4-4 of movement and the stacking path between it is vertical away from
From d, to guarantee d not less than l1And it is not less than l2。
In the embodiment of the present invention, cargo can be moved to stacking region from hoistable platform horizontal linear shape, can make goods
Object is smoothly moved to stacking region, high reliablity；Meanwhile first driving motor can be set to uniform rotation, processing unit
The start-stop for only needing to control the first driving motor controls the rotation of the second driving motor by simple algorithm, processing
The calculation amount of unit is small, and treatment effeciency is high.Meanwhile when the first driving motor uniform rotation, the change of the translational acceleration in face is pushed
It is little to change range, it is ensured that push face is smoothly by goods movement to stacking region.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (6)
1. a kind of movable type palletizing system characterized by comprising
Mobile platform, for carrying out the movement of system；
Hoistable platform, for placing cargo to be palletized, level is fixed on the upper surface of mobile platform, and it is located at top
Elevating movement is arranged the table top at end along the vertical direction；
Stacking mechanism, for level to push to stacking region from hoistable platform by cargo；
Control unit, for controlling mobile platform, the movement of hoistable platform and stacking machine according to the process instruction of processing unit
The movement and push of structure；
Identification module, for identification the profile of cargo and push face；
Processing unit, the profile of the cargo for being identified according to identification module and push face obtain movement to stacking mechanism and
It pushes control instruction and the elevating control of hoistable platform is instructed, and the movement and push control instruction and the lifting are controlled
System instruction is sent to control unit, carries out the movement of stacking mechanism by control unit and push controls and the lifting of hoistable platform
Control is also used to set mobile control instruction according to default rule, and the mobile control instruction is sent to control unit,
By the movement of control unit control mobile platform；
Further include:
Scaling platform is connect with the table top of the hoistable platform one end, and the table top of the scaling platform is along separate and lean on
The nearly hoistable platform mode moves back and forth setting, what the movement of the scaling platform was sent by control unit according to processing unit
Scaling platform control instruction is controlled；
The scaling platform control instruction that the processing unit is sent is obtained by processing unit according to the range of the stacking of setting；It is described
Scaling platform control instruction is used to determine the collapsing length of scaling platform according to the range of stacking, so that the scaling platform after flexible
Stacking range can be covered；
The profile of the identification cargo and push face, including identified by computer vision；
The stacking mechanism, the push plate including 2 or 2 or more independent controls, the push plate are used for direct and cargo contacts,
Cargo level is pushed into stacking region；
The push face, including the identical push face of push plate quantity with independent control, the push face is for stacking mechanism
Contact pushes；
The processing unit is also used to the push face according to the cargo, obtains the first control instruction of push plate, comprising:
Push plate contacts push face, and the judgement of the contact carries out identification judgement by identification module；
Around Pivot axle revolving push plank to rotate cargo by push plate, make the pre- of the geometric direction of cargo and the cargo stacking
The difference in phase direction is less than preset first threshold value, and the geometric direction of the cargo is identified by identification module, the cargo stacking
Anticipated orientation obtained by processing unit according to preset stacking rule, wherein Pivot axle be cargo centroid and with liter
The vertical straight line of platform upper surface drops；
Push plate is translated along target vector, the target vector is using cargo centroid as starting point, with the expection geometric form of cargo stacking
The heart is the vector of terminal, and the cargo centroid identified by identification module, the expection geometric centroid of the cargo stacking by
Reason unit is obtained according to preset stacking rule.
2. the system as claimed in claim 1, which is characterized in that
The identification module is also used to identify that, currently by the movement of the cargo of stacking, the recognition methods of the movement includes passing through
Computer vision is identified；
The processing unit is also used to the movement according to the cargo, obtains the control instruction of the second push plate, comprising:
When the rotation angle in the rotative component in the movement of cargo is not more than default second threshold, push plate keeps motion state
Until cargo to be pushed into the desired location of cargo stacking, the desired location of the cargo stacking is by processing unit according to preset code
Pile rule obtains；
When the rotation angle in the rotative component in the movement of cargo is greater than default second threshold, around current Pivot axle
Revolving push plank, until the rotation angle in the rotative component in the movement of cargo be not more than threshold rotating value, continue later along target
Cargo until is pushed into the desired location of cargo stacking by vector teranslation push plate.
3. system as claimed in claim 2, which is characterized in that
The geometric direction of the cargo, is determined by following methods:
Processing unit obtains cargo approximation cuboid to the recognition result of cargo by identification module, and the cargo approximation is rectangular
Body is identical as the cargo and maximum cuboid of common volume with cargo of volume, a face of the cuboid and hoistable platform
Top surface it is parallel；
Using cargo approximation cuboid and the normal direction in 4 vertical faces of the top surface of hoistable platform as the approximate cuboid of cargo
Comparison direction；
Using the direction on the smallest side of the flat angle of Bian Zhongyu target vector of the minimum circumscribed rectangle of the top surface of hoistable platform as liter
The push for dropping platform is positive；
Using in the comparison direction of approximate cuboid with the positive the smallest direction of angle of the push of hoistable platform as the geometry of cargo
Direction；
Rotative component in the movement of the cargo is the variable quantity of the geometric direction of cargo.
4. system as claimed in claim 3, which is characterized in that
When cargo approximation cuboid is not unique, by the comparison direction of all approximate cuboids with the push of hoistable platform just
Geometric direction to the smallest direction of angle as cargo.
5. the system as claimed in claim 1, which is characterized in that
The identification module is also used to identify the shape of goods packing and the material of goods packing, the material of goods packing
Recognition methods are as follows: carry out the characteristics of image that every kind prestored in the characteristics of image and processing unit of goods packing is packed material pair
Than when the difference of the characteristics of image with certain packaging material is minimum and is lower than preset value, the packaging material is identified
Goods packing material；
The processing unit, the stacking for being also used to the material setting cargo of the shape and goods packing according to goods packing are high
Degree, the setting method are as follows:
Unit rectangles area corresponding to the shape of the goods packing prestored in query processing unit and the material of goods packing
Stability height, the stability height indicates still to be able to maintain under the action of the pile under the height piles up preset perturbed force
Stablize, when the height of pile heap is more than stability height, the stability of pile heap cannot be guaranteed, the stability height is by test number
According to or emulation data obtain；
The stacking height of cargo, first formula are set according to the first formula are as follows:
H=kda
Wherein, H is the stacking height of cargo, and k is the stability height of unit rectangular area, and d is the short side in cargo stacking region
Length, a is preset correction factor, and value is positive real number less than 1.
6. the system as claimed in claim 1, which is characterized in that the stacking mechanism includes first mechanical arm, second mechanical arm
It is rotatablely connected with the one end in push face, the first mechanical arm by the first driving motor and the hoistable platform, described second
Mechanical arm is rotationally connected with first mechanical arm by the second driving motor, and it is remote that the push face is connected at the second mechanical arm
One end from the second driving motor；
Processing unit determines code when mobile cargo according to the positional relationship between push face central point and the hoistable platform of cargo
Pile path and stacking direction, and determine the vertical range d between first driving motor and the stacking path；
After the push face of the stacking mechanism reaches at cargo, processing unit controls first driving motor clockwise at the uniform velocity
Rotation, and the first angle α between the outreach direction of the first mechanical arm and the stacking direction is determined in real time, described first
The outreach direction of mechanical arm is from first driving motor to the direction of second driving motor；
The processing unit is also used to adjust the second mechanical arm in real time by the rotation for controlling second driving motor
The second angle β between outreach direction and the outreach direction of the first mechanical arm, the outreach direction of the second mechanical arm is
From second driving motor to the direction in the push face, and:
Wherein, l1For the length of the first mechanical arm, l2For the length of the second mechanical arm, and the outreach of second mechanical arm
Angle between direction and stacking direction is acute angle,
After the cargo is moved to preset stacking region, the processing unit controls first driving motor and described
Second driving motor stops working；
WhenWhen, the processing unit controls first driving motor and described second and drives
Dynamic motor stops working and issues alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711395102.8A CN108082944B (en) | 2017-12-21 | 2017-12-21 | Mobile palletizing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711395102.8A CN108082944B (en) | 2017-12-21 | 2017-12-21 | Mobile palletizing system |
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| CN108082944A CN108082944A (en) | 2018-05-29 |
| CN108082944B true CN108082944B (en) | 2019-11-19 |
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| CN201711395102.8A Expired - Fee Related CN108082944B (en) | 2017-12-21 | 2017-12-21 | Mobile palletizing system |
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| CN112077843B (en) * | 2020-08-24 | 2022-08-16 | 北京配天技术有限公司 | Robot graphical stacking method, computer storage medium and robot |
| CN112606763B (en) * | 2020-12-30 | 2022-09-09 | 东风商用车有限公司 | Method and system for monitoring and alarming displacement of goods in container |
| CN114044369B (en) * | 2021-11-05 | 2023-04-11 | 江苏昱博自动化设备有限公司 | Control method of stacking manipulator based on adaptive cruise technology |
| CN114906607B (en) * | 2022-05-30 | 2024-05-03 | 西门子（中国）有限公司 | Control method of conveying type stacker crane and conveying type stacker crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE69414226T2 (en) * | 1993-11-30 | 1999-03-25 | Kao Corp., Tokio/Tokyo | Method and device for stowing a cargo |
| JP4341313B2 (en) * | 2003-07-01 | 2009-10-07 | 東洋製罐株式会社 | Transport supply equipment using container transport equipment |
| CN105173749B (en) * | 2015-08-27 | 2017-09-26 | 贵州慧联科技有限公司 | A kind of special-shaped cigarette palletizing apparatus and palletizing method |
| CN106044281B (en) * | 2016-07-08 | 2019-05-10 | 长沙理工大学 | A kind of packing case automatic loading system and loading method |
| CN106429492B (en) * | 2016-08-17 | 2019-03-22 | 上海交通大学 | Quick stacking machine in container |
| CN107472932B (en) * | 2017-08-04 | 2023-06-16 | 广东美的智能机器人有限公司 | Loading machine and loading system |
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