CN108341273A - Full-automatic de-stacking system - Google Patents
Full-automatic de-stacking system Download PDFInfo
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- CN108341273A CN108341273A CN201711395084.3A CN201711395084A CN108341273A CN 108341273 A CN108341273 A CN 108341273A CN 201711395084 A CN201711395084 A CN 201711395084A CN 108341273 A CN108341273 A CN 108341273A
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- cargo
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- hoistable platform
- stacking
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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
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of full-automatic de-stacking systems, including：Mobile platform, the movement for carrying out system；Hoistable platform, for placing the cargo being crawled；Grasping mechanism, for capturing cargo and being moved horizontally to hoistable platform；Control unit, for controlling mobile platform, the movement of hoistable platform and the movement of grasping mechanism and crawl according to the process instruction of processing unit；Identification module, for identification the profile of cargo and crawl point；Processing unit, the profile of cargo for being identified according to identification module and crawl point obtain the crawl control instruction to grasping mechanism and are instructed to the elevating control of hoistable platform, and the crawl control instruction and elevating control instruction are sent to control unit, movement and the elevating control of crawl control and hoistable platform of grasping mechanism are carried out by control unit, it is additionally operable to set mobile control instruction according to default rule, the movement of mobile platform is controlled by control unit.
Description
Technical field
The present invention relates to technical field of mechanical automation, more particularly to a kind of full-automatic de-stacking system.
Background technology
De-stacking belongs to the essential step of plant produced logistics transportation, at present or is with artificial de-stacking mainly
It is main, and artificial de-stacking labor intensity is big, inefficiency, under especially toxic, hostile environment；Simultaneously because labor cost is upper
Liter and market competition etc., require that enterprise must improve production efficiency, by manually turning to automation.De-stacking function produces for enterprise
Wider array of production space and more production times are provided, controllable production is implemented to industrial each step, is enterprise's band
Carry out more macroscopical economic benefit.
However often size is larger for current unstacker, can only be fixed on specific place and carry out de-stacking, need larger
Space and cost, nor it is enough flexible, when cargo is replaced, it is difficult to carry out de-stacking safely and fast.And de-stacking demand is
It can be happened at any place for being not fixed position of factory and transfer house, fixed equipment can not use.
Invention content
In order to solve the above problem, the present invention provides a kind of full-automatic de-stacking systems.
A kind of full-automatic de-stacking system provided by the invention, including：
Mobile platform, the movement for carrying out system；
Hoistable platform, level are fixedly installed on mobile platform, for placing the cargo being crawled；
Grasping mechanism is set on hoistable platform, for capturing cargo and being moved horizontally to hoistable platform；
Control unit, for controlling mobile platform according to the process instruction of processing unit, hoistable platform moving and grabs
Take the movement and crawl of mechanism；
Identification module, for identification the profile of cargo and crawl point；
Processing unit, the profile of the cargo for being identified according to identification module and crawl point obtain grabbing grasping mechanism
It takes control instruction and the elevating control of hoistable platform is instructed, and the crawl control instruction and elevating control instruction are sent out
It send to control unit, movement and the elevating control of crawl control and hoistable platform of grasping mechanism is carried out by control unit, also
For setting mobile control instruction according to default rule, and the mobile control instruction is sent to control unit, by controlling
Unit controls the movement of mobile platform.
Preferably,
The hoistable platform, also carries scaling platform, and the scaling platform is used to extend the boundary of hoistable platform；
The identification module is additionally operable to the location and shape of identification cargo stacking；
The processing unit is additionally operable to obtain elevating control instruction according to the location and shape of the cargo stacking and stretch
The extension and contraction control of platform instructs, and the elevating control instruction includes the bottom position for making hoistable platform be elevated to top cargo,
The extension and contraction control instruction includes the bottom position for making scaling platform movement until contacting top cargo.
Preferably,
The identification module is additionally operable to the location and shape of identification cargo stacking；
The processing unit is additionally operable to the location and shape according to the cargo stacking, and obtain mobile platform first moves
Dynamic control instruction, the first movement control instruction, which is used to controlling the mobile platform, makes the close de-stacking side of hoistable platform
Side is parallel with line or plane determined by multiple crawl points by cargo.
Preferably,
The identification module is additionally operable to the position to be placed by the cargo that Computer Vision Recognition is dismantled；
The processing unit is additionally operable to obtain the second movement of mobile platform according to the position to be placed of the cargo
Control instruction, the second movement control instruction includes that the move of mobile platform is generated by preset create-rule.
Preferably,
The grasping mechanism includes 2 or 2 or more grabbers；
The identification module, is additionally operable to the movement for the cargo that identification is currently disassembled, and the recognition methods of the movement includes
It is identified by computer vision；
The processing unit is additionally operable to the movement according to the cargo, obtains the control instruction of grabber, including：
When the rotation angle in the rotative component in the movement of cargo is not more than threshold rotating value, what processing unit obtained grabs
Taking the control instruction of device to be used to control grabber keeps motion state up to cargo to be grabbed to the target location on hoistable platform,
The target location is determined by processing unit according to preset cargo queueing discipline；
When the rotation angle in the rotative component in the movement of cargo is more than threshold rotating value, crawl that processing unit obtains
Relative position of the control instruction of device for adjusting between grabber makes the rotation angle in the rotative component in the movement of cargo
No more than threshold rotating value, later grabber with identical speed dragging cargo until cargo to be grabbed to the target on hoistable platform
Position, the target location are determined by processing unit according to preset cargo queueing discipline.
Preferably,
Force sensor, power used when for measuring mobile cargo is arranged in the grasping mechanism；
The identification module is additionally operable to identification currently by cargo on the height of the innage of de-stacking and hoistable platform
Highly；
The mobile platform or the hoistable platform are equipped with Weight-measuring device, for measuring institute's loading on current system
The weight of object；
The processing unit is additionally operable to obtain the weight of each cargo, root according to the measurement result of Weight-measuring device
The height of each cargo is obtained according to identification module, and determines and stops grasping condition, the stopping grasping condition includes：
Power used is more than preset pulling force warning value when mobile cargo；Or
Preset height detection value is less than by the height of the innage of de-stacking；Or
The height of cargo is more than the difference of preset first height threshold and a cargo height on hoistable platform；Or
The weight of cargo is more than the difference of preset first weight threshold and a goods weight on hoistable platform.
Preferably,
The identification module is additionally operable to the area under of identification goods packing and the material of goods packing, goods packing
The recognition methods of material be：The image of each packaging material to prestore in the characteristics of image and processing unit of goods packing is special
Sign is compared, and when the difference of the characteristics of image with certain packaging material is minimum and less than preset value, the packaging material is
For the material of identified goods packing；
The processing unit is additionally operable to set cargo according to the area under of goods packing and the material of goods packing
Pulling force warning value, the setting method are：Unit area corresponding to the material of the goods packing to prestore in query processing unit
Pulling force warning value, the area under for being multiplied by goods packing with this unit area pulling force warning value obtain the pulling force warning value of cargo.
Preferably,
The processing unit, power used and the weight of a cargo obtain mobile platform when being additionally operable to according to mobile cargo
Speed and acceleration limitation, the speed and acceleration are limited to：
The amplitude of centrifugal acceleration and the vector sum of forward acceleration and the product of the quality of a cargo are less than mobile cargo
The power of Shi Suoyong；Wherein, centrifugal acceleration is obtained by the movement speed of system and the steering angle of system, the quality of a cargo
It is obtained by the weight of a cargo.
Optionally, the grasping mechanism includes first mechanical arm, second mechanical arm and grabber, 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 grabber is connected at the one end of the second mechanical arm far from the second driving motor；
Processing unit determines de-stacking when mobile cargo according to the position relationship between the crawl point and hoistable platform of cargo
Path and de-stacking direction, and determine the vertical range d between first driving motor and the de-stacking path；
After the grabber of the grasping mechanism grabs cargo, it is clockwise that processing unit controls first driving motor
Uniform rotation, and the first angle α between the abduction direction and the de-stacking direction of the first mechanical arm is determined in real time, it is described
The abduction direction of first mechanical arm is from first driving motor to the direction of second driving motor；
The processing unit is additionally operable to adjust second machinery in real time by controlling the rotation of second driving motor
The second angle β between the abduction direction of arm and the abduction direction of the first mechanical arm, the abduction side of the second mechanical arm
Second driving motor described in Xiang Weicong to the direction of the grabber, and：
Wherein, l1For the length of the first mechanical arm, l2For the length of the second mechanical arm, and second mechanical arm
Angle between abduction direction and de-stacking direction is obtuse angle,
After the cargo is moved to the predetermined position of the hoistable platform, the processing unit control described first
Driving motor and second driving motor are stopped；
WhenWhen, the processing unit controls first driving motor and described the
Two driving motors are stopped and send out alarm.
The present invention some advantageous effects may include：
A kind of full-automatic de-stacking system provided by the invention, can solve existing destacking apparatus can only carry out in fixed location
The problem of de-stacking, underaction, can realize that the de-stacking for being not fixed position operates in factory, transfer house.
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 purpose of the present invention and other advantages can be by the explanations write
Specifically noted structure is realized and is obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present 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 full-automatic de-stacking system in the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of full-automatic de-stacking system in another embodiment of the present invention；
Fig. 3 is a kind of schematic top plan view of full-automatic de-stacking system in the embodiment of the present invention；
In figure, 1：Mobile platform；2：Hoistable platform；3：Grasping mechanism；4：Automatic identification camera lens；2-1：Elevating mechanism；2-
2：Flat surface；3-1：Grabber；3-2：First mechanical arm；3-3：Second mechanical arm；3-4：First driving motor；3-5：Second drives
Dynamic motor.
Specific implementation mode
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 full-automatic de-stacking system in the embodiment of the present invention.As shown in Figure 1, provided by the invention
A kind of full-automatic de-stacking system, including：
Mobile platform, the movement for carrying out system；
Hoistable platform, level are fixedly installed on mobile platform, for placing the cargo being crawled；
Grasping mechanism is set on hoistable platform, for capturing cargo and being moved horizontally to hoistable platform；
Control unit, for controlling mobile platform according to the process instruction of processing unit, hoistable platform moving and grabs
Take the movement and crawl of mechanism；The control unit can be set on mobile platform, hoistable platform or grasping mechanism, with specific reference to
Depending on actual conditions；
Identification module, for identification the profile of cargo and crawl point；
Processing unit, the profile of the cargo for being identified according to identification module and crawl point obtain grabbing grasping mechanism
It takes control instruction and the elevating control of hoistable platform is instructed, and the crawl control instruction and elevating control instruction are sent out
It send to control unit, movement and the elevating control of crawl control and hoistable platform of grasping mechanism is carried out by control unit, also
For setting mobile control instruction according to default rule, and the mobile control instruction is sent to control unit, by controlling
Unit controls the movement of mobile platform.Default rule includes the mobile route setting from mobile starting point to mobile target point, packet
All mobile routes arranged in a manner of tessellated in moving area are included, therefrom chooses and needs to change the minimum path in direction,
And one or more path is randomly selected wherein as mobile route and alternative mobile route, default rule further includes with pre-
If speed carry out mobile platform movement.
In order to increase the locomotivity of system, the weight of reduction system movable part is needed, by the calculating part of identification module
Divide and processing unit is set to except mobile platform, is communicated with the component on mobile platform by wireless network, so as to
To increase the locomotivity of system.
By using mobile platform, increase the flexibility of de-stacking system, realizes the de-stacking in nonspecific place, and by making
With processing unit and identification module, the fortune of mobile platform, hoistable platform and de-stacking mechanism is adjusted by technologies such as computer visions
It is dynamic, so as to flexibly realize that the de-stacking to different cargo stackings operates.Moreover, grasping mechanism moves goods using drag operation
Light-duty stepper motor may be used in object, grasping mechanism, can make device miniaturization, and the large size lifted needed for operation is avoided to set
It is standby, to reduce the weight and volume of system, further increase the locomotivity of system.
In another embodiment of the present invention, as shown in Fig. 2, a kind of full-automatic de-stacking system provided by the invention, packet
It includes：Mobile platform 1；Hoistable platform 2, level are fixed on 1 upper surface of mobile platform, and it is located at the table top on top along perpendicular
Histogram is arranged to elevating movement；Grasping mechanism 3, the grasping mechanism 3 are distributed in the table top one of 2 one end of the hoistable platform
Side, and it is driven and rotatable close to the end of respective side edges, and 3 other end of the grasping mechanism is provided with for taking
The grabber 3-1 of picking object；The grasping mechanism 3 includes first mechanical arm 3-2 and second mechanical arm 3-3, first machinery
The one end arm 3-2 is rotatablely connected by the first driving motor 3-4 and the hoistable platform 2, the second mechanical arm 3-3 vertical connections
The first mechanical arm 3-2 and first mechanical arm 3-2, the grabber 3-1 are rotationally connected with by the second driving motor 3-5
It is connected at the described one end of second mechanical arm 3-3 far from first mechanical arm 3-2；The first mechanical arm 3-2 and described second
Mechanical arm 3-3 is moved in same plane, which can be fixed plane, can be specifically a horizontal plane.The lifting
Platform 2 includes the elevating mechanism 2-1 that level is fixed on the upper surface of mobile platform, and is fixed at the elevating mechanism
Flat surface 2-2 on 2-1 top end faces；The grasping mechanism 3 is equipped with automatic identification camera lens 4 close to the ends grabber 3-1；Automatic identification
Camera lens 4 and long-range computing device constitute identification module, and control unit controls grabber 3-1, the first driving motor 3-4, the
Two driving motors are controlled, and long-range computing device realizes the control of system as processing unit.
In order to by cargo is horizontal and linear movement is to hoistable platform, the full-automatic de-stacking system in the embodiment of the present invention
In identification module after the crawl point for identifying cargo, also execute following operation：
Processing unit determines de-stacking when mobile cargo according to the position relationship between the crawl point and hoistable platform of cargo
Path and de-stacking direction, and determine the vertical range d between the first driving motor 3-4 and the de-stacking path；
After the grabber 3-1 of the grasping mechanism grabs cargo, processing unit controls the first driving motor 3-4
Uniform rotation clockwise, and first between the abduction direction and the de-stacking direction of the determining first mechanical arm 3-2 in real time
The abduction direction of angle α, the first mechanical arm 3-2 is from the first driving motor 3-4 to the second driving motor 3-5
Direction；
The processing unit is additionally operable to adjust second machine in real time by controlling the rotation of the second driving motor 3-5
The second angle β between the abduction direction of tool arm 3-3 and the abduction direction of the first mechanical arm 3-2, the second mechanical arm
The abduction direction of 3-3 be from the second driving motor 3-5 to the direction of the grabber 3-1, and：
Wherein, l1For the length of the first mechanical arm, l2For the length of the second mechanical arm, and second mechanical arm
Angle between abduction direction and de-stacking direction is obtuse angle,
After the cargo is moved to the predetermined position of the hoistable platform, the processing unit control described first
Driving motor 3-4 and the second driving motor 3-5 are stopped；
WhenWhen, the processing unit controls the first driving motor 3-4 and described
Second driving motor 3-5 is stopped and sends out alarm.
Specifically, in order to ensure that grabber 3-1 can be with linear type on mobile cargo to hoistable platform, it is required that crawl
The grabber 3-1 of mechanism moves along a straight line.As shown in figure 3, Fig. 3 is a kind of schematic diagram for overlooking the de-stacking system, the reality in Fig. 3
Line arrow direction indicates de-stacking direction, and de-stacking path is indicated by the solid arrow of grabber 3-1；First driving motor 3-4 with
Vertical range between de-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 3-2, l2For the length of second mechanical arm 3-3, α indicates first mechanical arm 3-
The first angle between 2 abduction direction and de-stacking direction, the abduction direction of the first mechanical arm 3-2 are to be driven from described first
Motor 3-4 is moved to the direction of the second driving motor 3-5；β indicates abduction direction and the first mechanical arm of second mechanical arm 3-3
The abduction direction of the second angle between the abduction direction of 3-2, the second mechanical arm 3-3 is from the second driving motor 3-
5 arrive the direction of the grabber 3-1.Meanwhile in order to ensure that second mechanical arm 3-3 will not touch cargo, second mechanical arm 3-3
Abduction direction and de-stacking direction between angle be obtuse angle；As shown in figure 3,180 ° of i.e. 90 °≤alpha+beta ＜, i.e.,
During the work time, (corresponding direction clockwise herein is can for the first driving motor 3-4 uniform rotation clockwise
So that the direction that first angle α reduces), processing unit need not excessively pay close attention to the action of the first driving motor 3-4.Meanwhile
Processing unit determines second angle β in real time according to above-mentioned formula, and calculation amount is small, and calculating speed is fast, can be driven by control second
The rotation of dynamic motor 3-5 is quickly so that the angle between two mechanical arms is β so that grabber 3-1 is always situated in de-stacking path
On, ensure linear type de-stacking.
After on goods movement to hoistable platform, when the abduction direction of second mechanical arm 3-3 is vertical with de-stacking direction,
The first driving motor 3-4, which works on, at this time can cause the mobile route of grabber 3-1 to be bent；Or need the first driving motor
3-4, which is rotated counterclockwise, and the second driving motor 3-5 is rotated clockwise can just ensure that mobile route is normal, but be easy out at this time
The problem of existing second mechanical arm 3-3 touches cargo.Therefore, terminate using this state as work in the embodiment of the present invention critical
Point.
At this point, d=l1sinα+l2, i.e.,Therefore, whenWhen
Two driving motors are stopped.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 the condition, the movement by controlling mobile platform can adjust the first driving motor 3-4 and the de-stacking path
Between vertical range d, with ensure d be not less than l1And it is not less than l2。
In the embodiment of the present invention, cargo can be moved to horizontal linear shape on hoistable platform, can make cargo smoothly
It is moved to hoistable platform, reliability is high；Meanwhile first driving motor could be provided as uniform rotation, processing unit only needs to control
The start-stop for making the first driving motor controls the rotation of the second driving motor, the meter of processing unit by simple algorithm
Calculation amount is small, and treatment effeciency is high.Meanwhile when the first driving motor uniform rotation, the variation range of the translational acceleration of grabber is not
Greatly, it is ensured that grabber is smoothly by goods movement to hoistable platform.
In order to preferably carry out de-stacking to less regular cargo stacking, such as the cargo of taper stacking, and dilatory behaviour
It needs to be lined with support construction below cargo, in order to ensure that drag operation has support construction when taper stacking
Cargo is supported, in one embodiment of the invention,
The hoistable platform, also carries scaling platform, and the scaling platform is used to extend the boundary of hoistable platform；
The identification module is additionally operable to the location and shape of identification cargo stacking；
The processing unit is additionally operable to obtain elevating control instruction according to the location and shape of the cargo stacking and stretch
The extension and contraction control of platform instructs, and the elevating control instruction includes the bottom position for making hoistable platform be elevated to top cargo
Instruction, the extension and contraction control instruction include making the instruction of bottom position of the scaling platform movement until contacting top cargo.
In order to improving de-stacking efficiency in automatic de-stacking, need to ensure as possible system is parked in can beside de-stacking cargo
More cargos are retracted as possible, in order to reach this purpose, in one embodiment of the invention,
The identification module is additionally operable to the location and shape of identification cargo stacking；
The processing unit is additionally operable to the location and shape according to the cargo stacking, and obtain mobile platform first moves
Dynamic control instruction, the first movement control instruction are used to make the close de-stacking one of hoistable platform by controlling the mobile platform
The side of side is parallel with line or plane determined by multiple crawl points by cargo.
In order to using already existing conveyer belt etc. to improve efficiency, after needing system that can find suitable de-stacking
Cargo set-point, in order to reach this purpose, in one embodiment of the invention,
The identification module is additionally operable to the position to be placed by the cargo that Computer Vision Recognition is dismantled；It can be with
Determine that the cargo of dismounting to be put with location technologies such as RFID (Radio Frequency Identification, radio frequency identification)
The position set；
The processing unit is additionally operable to obtain the second movement of mobile platform according to the position to be placed of the cargo
Control instruction, the second movement control instruction includes that the move of mobile platform is generated by preset create-rule.It is default
Create-rule include by mobile platform by the movement of preset speed until the unloading direction of hoistable platform boundary and cargo institute
The distance between the position to be placed is less than preset value, and the preset value is less than the half of cargo length, and is less than cargo width
Half.
In order to avoid the cargo placement in de-stacking, dismantled is not whole, cause the cargo stacking efficiency of de-stacking low or even heap
It puts the problems such as unstable, in one embodiment of the invention,
The grasping mechanism includes 2 or 2 or more grabbers；
The identification module, is additionally operable to the movement for the cargo that identification is currently disassembled, and the recognition methods of the movement includes
It is identified by computer vision；
The processing unit is additionally operable to the movement according to the cargo, obtains the control instruction of grabber, including：
When the rotation angle in the rotative component in the movement of cargo is not more than threshold rotating value, what processing unit obtained grabs
Taking the control instruction of device to be used to control grabber keeps motion state up to cargo to be grabbed to the target location on hoistable platform,
The target location is determined by processing unit according to preset cargo queueing discipline；
When the rotation angle in the rotative component in the movement of cargo is more than threshold rotating value, crawl that processing unit obtains
Relative position of the control instruction of device for adjusting between grabber makes the rotation angle in the rotative component in the movement of cargo
No more than threshold rotating value, later grabber with identical speed dragging cargo until cargo to be grabbed to the target on hoistable platform
Position, the target location are determined by processing unit according to preset cargo queueing discipline.Preset cargo queueing discipline determines
The placement space position of the quantity of goods and every cargo that include including every heap cargo.
The appearance for stacking the problems such as excessively high, overweight in order to prevent causes system that can not move, in the implementation of the present invention
In example,
Force sensor, power used when for measuring mobile cargo is arranged in the grasping mechanism；
The identification module is additionally operable to identification currently by cargo on the height of the innage of de-stacking and hoistable platform
Highly；
The mobile platform or the hoistable platform are equipped with Weight-measuring device, for measuring institute's loading on current system
The weight of object；
The processing unit is additionally operable to obtain the weight of each cargo, root according to the measurement result of Weight-measuring device
The height of each cargo is obtained according to identification module, and determines and stops grasping condition, the stopping grasping condition includes：
Power used is more than preset pulling force warning value when mobile cargo；Or
Preset height detection value is less than by the height of the innage of de-stacking；Or
The height of cargo is more than the difference of preset first height threshold and a cargo height on hoistable platform；Or
The weight of cargo is more than the difference of preset first weight threshold and a goods weight on hoistable platform.
It can be damaged since some are packaged under larger frictional force, in order to avoid the appearance of such case, need to judge to wrap
The material of dress and the frictional force that can be born, in order to reach this purpose, in one embodiment of the invention,
The identification module is additionally operable to the area under of identification goods packing and the material of goods packing, goods packing
The recognition methods of material be：The image of each packaging material to prestore in the characteristics of image and processing unit of goods packing is special
Sign is compared, and when the difference of the characteristics of image with certain packaging material is minimum and less than preset value, the packaging material is
For the material of identified goods packing；
The processing unit is additionally operable to set cargo according to the area under of goods packing and the material of goods packing
Pulling force warning value, the setting method are：Unit area corresponding to the material of the goods packing to prestore in query processing unit
Pulling force warning value, the area under for being multiplied by goods packing with this unit area pulling force warning value obtain the pulling force warning value of cargo.
When being moved due to system, the cargo on platform can be acted on by cross force, in order to prevent this lateral power mistake
Cargo is caused to slide greatly, in one embodiment of the invention,
The processing unit, power used and the weight of a cargo obtain mobile platform when being additionally operable to according to mobile cargo
Speed and acceleration limitation, the speed and acceleration are limited to：
The amplitude of centrifugal acceleration and the vector sum of forward acceleration and the product of the quality of a cargo are less than mobile cargo
The power of Shi Suoyong；Wherein, centrifugal acceleration is obtained by the movement speed of system and the steering angle of system, the quality of a cargo
It is obtained by the weight of a cargo.
A kind of full-automatic de-stacking system provided by the invention, can solve existing destacking apparatus can only carry out in fixed location
The problem of de-stacking, underaction, can realize that the de-stacking for being not fixed position operates in factory, transfer house.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided 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, the present invention can be used in one or more wherein include computer usable program code computer
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 with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of 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 count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows 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
God 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 (9)
1. a kind of full-automatic de-stacking system, which is characterized in that including：
Mobile platform, the movement for carrying out system；
Hoistable platform, level are fixedly installed on mobile platform, for placing the cargo being crawled；
Grasping mechanism is set on hoistable platform, for capturing cargo and being moved horizontally to hoistable platform；
Control unit, for controlling mobile platform, the movement of hoistable platform and gripper according to the process instruction of processing unit
The movement and crawl of structure；
Identification module, for identification the profile of cargo and crawl point；
Processing unit, the profile of the cargo for being identified according to identification module and crawl point obtain the crawl control to grasping mechanism
System is instructed and is instructed to the elevating control of hoistable platform, and the crawl control instruction and elevating control instruction are sent to
Control unit is carried out movement and the elevating control of crawl control and hoistable platform of grasping mechanism by control unit, is additionally operable to
Mobile control instruction is set according to default rule, and the mobile control instruction is sent to control unit, by control unit
Control the movement of mobile platform.
2. the system as claimed in claim 1, which is characterized in that
The hoistable platform, also carries scaling platform, and the scaling platform is used to extend the boundary of hoistable platform；
The identification module is additionally operable to the location and shape of identification cargo stacking；
The processing unit is additionally operable to obtain elevating control instruction and scaling platform according to the location and shape of the cargo stacking
Extension and contraction control instruction, elevating control instruction includes the bottom position for making hoistable platform be elevated to top cargo, described
Extension and contraction control instruction includes the bottom position for making scaling platform movement until contacting top cargo.
3. the system as claimed in claim 1, which is characterized in that
The identification module is additionally operable to the location and shape of identification cargo stacking；
The processing unit is additionally operable to the location and shape according to the cargo stacking, obtains the first movement control of mobile platform
System instruction, the first movement control instruction be used for control the mobile platform make hoistable platform close de-stacking side side and
Line or plane determined by multiple crawl points by cargo are parallel.
4. the system as claimed in claim 1, which is characterized in that
The identification module is additionally operable to the position to be placed by the cargo that Computer Vision Recognition is dismantled；
The processing unit is additionally operable to obtain the second movement control of mobile platform according to the position to be placed of the cargo
Instruction, the second movement control instruction includes that the move of mobile platform is generated by preset create-rule.
5. the system as claimed in claim 1, which is characterized in that
The grasping mechanism includes 2 or 2 or more grabbers；
The identification module, is additionally operable to the movement for the cargo that identification is currently disassembled, and the recognition methods of the movement includes passing through
Computer vision is identified；
The processing unit is additionally operable to the movement according to the cargo, obtains the control instruction of grabber, including：
When the rotation angle in the rotative component in the movement of cargo is not more than threshold rotating value, grabber that processing unit obtains
Control instruction be used to control grabber and keep motion state until cargo to be grabbed to target location on hoistable platform, it is described
Target location is determined by processing unit according to preset cargo queueing discipline；
When the rotation angle in the rotative component in the movement of cargo is more than threshold rotating value, grabber that processing unit obtains
Relative position of the control instruction for adjusting between grabber keeps the rotation angle in the rotative component in the movement of cargo little
In threshold rotating value, later grabber with identical speed dragging cargo until cargo to be grabbed to the target position on hoistable platform
It sets, the target location is determined by processing unit according to preset cargo queueing discipline.
6. the system as claimed in claim 1, which is characterized in that
Force sensor, power used when for measuring mobile cargo is arranged in the grasping mechanism；
The identification module is additionally operable to identification currently by the height of cargo on the height of the innage of de-stacking and hoistable platform
Degree；
The mobile platform or the hoistable platform are equipped with Weight-measuring device, for measuring contained cargo on current system
Weight；
The processing unit is additionally operable to obtain the weight of each cargo according to the measurement result of Weight-measuring device, according to knowledge
Other module obtains the height of each cargo, and determines and stop grasping condition, and the stopping grasping condition includes：
Power used is more than preset pulling force warning value when mobile cargo；Or
Preset height detection value is less than by the height of the innage of de-stacking；Or
The height of cargo is more than the difference of preset first height threshold and a cargo height on hoistable platform；Or
The weight of cargo is more than the difference of preset first weight threshold and a goods weight on hoistable platform.
7. system as claimed in claim 6, which is characterized in that
The identification module is additionally operable to the area under of identification goods packing and the material of goods packing, the material of goods packing
The recognition methods of matter is：By prestore in the characteristics of image and processing unit of goods packing each packaging material characteristics of image into
Row comparison, when the difference of the characteristics of image with certain packaging material is minimum and less than preset value, the packaging material is quilt
The material of the goods packing of identification；
The processing unit is additionally operable to set the pulling force of cargo according to the area under of goods packing and the material of goods packing
Warning value, the setting method are：Unit area pulling force corresponding to the material of the goods packing to prestore in query processing unit
Warning value, the area under for being multiplied by goods packing with this unit area pulling force warning value obtain the pulling force warning value of cargo.
8. system as claimed in claim 6, which is characterized in that
The processing unit, power used and the weight of a cargo obtain the speed of mobile platform when being additionally operable to according to mobile cargo
Degree and acceleration limitation, the speed and acceleration are limited to：
The amplitude of centrifugal acceleration and the vector sum of forward acceleration and the product of the quality of a cargo are less than mobile cargo when institute
Power；Wherein, centrifugal acceleration is obtained by the movement speed of system and the steering angle of system, and the quality of a cargo is by one
The weight of part cargo obtains.
9. system as claimed in claim 6, which is characterized in that the grasping mechanism includes first mechanical arm, second mechanical arm
And grabber, one end of the first mechanical arm are rotatablely connected 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 grabber is connected at the second mechanical arm
One end from the second driving motor；
Processing unit determines de-stacking path when mobile cargo according to the position relationship between the crawl point and hoistable platform of cargo
With de-stacking direction, and the vertical range d between first driving motor and the de-stacking path is determined；
After the grabber of the grasping mechanism grabs cargo, processing unit controls first driving motor clockwise at the uniform velocity
Rotation, and the first angle α between the abduction direction and the de-stacking direction of the first mechanical arm is determined in real time, described first
The abduction direction of mechanical arm is from first driving motor to the direction of second driving motor；
The processing unit is additionally operable to adjust the second mechanical arm in real time by controlling the rotation of second driving motor
The second angle β between abduction direction and the abduction direction of the first mechanical arm, the abduction direction of the second mechanical arm is
From second driving motor to the direction of the grabber, and：
Wherein, l1For the length of the first mechanical arm, l2For the length of the second mechanical arm, and the abduction of second mechanical arm
Angle between direction and de-stacking direction is obtuse angle,When the cargo is moved to institute
After the predetermined position for stating hoistable platform, the processing unit controls first driving motor and second driving motor stops
Only work；
WhenWhen, the processing unit controls first driving motor and described second and drives
Dynamic motor is stopped and sends out alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711395084.3A CN108341273A (en) | 2017-12-21 | 2017-12-21 | Full-automatic de-stacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711395084.3A CN108341273A (en) | 2017-12-21 | 2017-12-21 | Full-automatic de-stacking system |
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| CN108341273A true CN108341273A (en) | 2018-07-31 |
Family
ID=62962584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711395084.3A Pending CN108341273A (en) | 2017-12-21 | 2017-12-21 | Full-automatic de-stacking system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112150427A (en) * | 2020-09-17 | 2020-12-29 | 山东洛杰斯特物流科技有限公司 | Mixed unstacking method, device and equipment based on point cloud information |
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