CN109697594B - Full-automatic unmanned travelling cable dish storage system - Google Patents
Full-automatic unmanned travelling cable dish storage system Download PDFInfo
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Abstract
The invention relates to a full-automatic unmanned travelling cable tray warehousing system which is used for cable tray warehousing management and comprises a loading and unloading system, a travelling control system, a warehousing management system, a communication system and a central server; the loading and unloading system comprises a data label identification device which is used for identifying data labels on the cable tray during warehousing and ex-warehouse and sending the data labels to the warehousing management system; the driving control system comprises a driving device, a three-dimensional laser scanner and a vehicle-mounted terminal; the method comprises the following steps that a three-dimensional laser scanner obtains three-dimensional images of a transport vehicle and a cable tray, a central server positions the cable tray based on the three-dimensional images, the cable tray is sent to a vehicle-mounted terminal, and a travelling crane is controlled to hoist the cable tray; the warehousing management system comprises a warehousing database; the warehousing database stores the data labels and the goods position data corresponding to the data labels; and the warehousing database updates the goods position data according to the cable tray hoisting progress of the driving control system. The system can improve the warehousing efficiency; the labor cost is reduced, and the development requirement of storage intellectualization is met.
Description
Technical Field
The invention relates to a full-automatic cable tray storage system for an unmanned vehicle.
Background
The cable type materials which are suitable for being loaded and unloaded through a travelling crane are mainly divided into four types, namely overhead insulated conductors, steel strands, low-voltage power cables and power cables, and the four types of cables are stored by cable disks. In the process of loading and unloading the cable reel by the driving control clamp, the prior art is mostly completed by combining video monitoring with manual operation. However, the efficiency of manual operation is difficult to meet the development requirement of storage intelligence, and a full-automatic unmanned travelling cable tray storage system is required to be provided for realizing full-automatic control of travelling.
Disclosure of Invention
The invention aims to provide a full-automatic cable tray storage system for an unmanned vehicle.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a full-automatic unmanned traveling cable tray warehousing system is used for cable tray warehousing management and comprises a loading and unloading system, a traveling control system, a warehousing management system, a communication system and a central server;
the handling system comprises a data tag identification device; the data label identification device identifies data labels on the cable tray during warehousing and ex-warehouse and sends the data labels to the warehousing management system;
the driving control system comprises a driving device, a camera device, a three-dimensional laser scanner and a vehicle-mounted terminal; the three-dimensional laser scanner acquires three-dimensional images of the transport vehicle and the cable tray, the central server positions the cable tray based on the images acquired by the camera device and the three-dimensional images acquired by the three-dimensional laser scanner, and the cable tray is sent to the vehicle-mounted terminal to control the travelling crane to hoist the cable tray;
the warehousing management system comprises a warehousing database; the warehousing database stores the data labels and the goods position data corresponding to the data labels; the warehousing database updates the goods position data according to the cable tray hoisting progress of the driving control system;
the central server is used for system control of a loading and unloading system, a driving control system and a warehousing management system;
the communication system is used for communication between each system and the central server.
Further, the warehousing control flow of the full-automatic unmanned travelling cable tray warehousing system is as follows:
the central server sends a warehousing task, and the data label identification device scans the transport vehicles along a path to obtain the data labels of the cable trays and send the data labels to the warehousing management system;
after the warehousing management system acquires the data tags, the travelling crane control system controls the travelling crane device to sequentially hoist the cable trays to the specified goods positions, and the warehousing management system updates the goods position information corresponding to the acquired data tags;
the warehouse-out control flow of the full-automatic unmanned traveling cable tray warehousing system is as follows:
the central server sends out-of-warehouse tasks, and sending information comprises data labels;
the warehousing management system acquires goods position information according to the data tags and sends the goods position information to the driving control system;
and the travelling crane control system controls the travelling crane lifting appliance to sequentially lift the cable disc to the warehouse-out opening, and the warehousing management system updates the goods position information to finish warehouse-out.
Further, the scanning path of the data label identification device is as follows:
for the cable reel which is transversely placed, the data label identification device rounds along the transport vehicle to identify the data label of the cable reel;
for the cable reels placed in a criss-cross mode, the data label recognition device moves along the path of the cable reels placed transversely firstly, and then moves along the path of the cable reels placed longitudinally to recognize the data labels of the cable reels.
Further, the data tag stores parameter information of the cable, including the cable model, length, weight and supplier information; and after the data label identification device identifies the data label, storing the parameter information contained in the data label to a warehousing database.
Further, the central server sends a warehousing task to generate a warehousing task list;
the warehouse management system distributes warehouse goods positions based on the warehouse task list and the data label information sent by the data label identification device, and the warehouse goods position distribution method comprises the following steps: the method comprises the steps of sequentially distributing goods positions, distributing the goods positions according to unified models, distributing the goods positions according to ordered batches, distributing the goods positions according to cable attribute item priorities or distributing rules specified by users.
Further, the warehouse database of the warehouse management system also comprises a warehouse three-dimensional space model; the warehouse three-dimensional space model is divided into a row space and a column space according to the row and column heights, the row space is a travelling direction of a travelling crane, the column space is a travelling crane lifting appliance moving direction, and the height is a preset layer number of cables; the space between each row and each column is the maximum cable size plus the operation space of the travelling crane sling; arranging a three-dimensional space identifier, namely a row and column high coordinate, at the row and column high position of the space division; and each unit obtained by space division sequentially corresponds to a goods position in the warehouse management system.
Furthermore, a positioning device is arranged on the vehicle-mounted terminal, so that real-time position information of the travelling device is acquired in real time and is displayed in a three-dimensional space model of the warehouse in a superposition manner.
Further, the driving control system further comprises a monitoring device; and the warehouse three-dimensional space model is superposed to a display interface of the monitoring device.
Further, the travelling crane device comprises a travelling crane, a lifting appliance and a clamp; an encoder is installed on the lifting appliance, and a gravity sensor is installed on the clamp; and the vehicle-mounted terminal receives the data sent by the encoder and the gravity sensor and sends the data to the warehouse management system, so that the height information and the load data of the lifting appliance are obtained, and the cable reel is checked.
Further, a positioning device is arranged on the vehicle-mounted terminal, and the cable disc hoisting execution progress of the driving control system is judged based on the positioning information, the lifting appliance height information and the load data of the gravity sensor, and the flow is as follows:
s10, comparing the current load data of the gravity sensor with the load data of the previous moment by the vehicle-mounted terminal, if the load changes, skipping to S40, otherwise skipping to S20;
s20, judging whether hoisting or hoisting-down action exists or not based on the height information of the lifting appliance, and if not, acquiring driving position information based on a positioning device on the vehicle-mounted terminal to judge the direction;
s30, performing task matching, if matched warehousing or ex-warehousing tasks exist, calculating the direction of the vehicle to advance, updating the direction prompt, and ending the judgment process; otherwise, jumping to S60;
s40, judging whether hoisting or hoisting-down action exists or not based on the height information of the lifting appliance, and judging the running operation if the hoisting or hoisting-down action exists;
s50, performing task matching, if matched warehousing or ex-warehousing tasks exist, changing the operation execution state, updating the operation display, uploading the vehicle operation, and ending the judgment process; otherwise, jumping to S60;
and S60, ending.
Further, the central server positions the cable drum based on the image acquired by the camera device and the three-dimensional image acquired by the three-dimensional laser scanner as follows:
s100, acquiring a cable drum global video acquired by a camera device, setting specific part characteristics of a cable drum image, performing coarse positioning by searching specific part characteristics of the cable drum image which accord with a definition in the cable drum global video, and acquiring a coarse position of the cable drum;
s200, scanning the rough position of the cable tray through a three-dimensional laser scanner to obtain point cloud data; carrying out plane segmentation on the point cloud data, and dividing a point set into a plane set and a non-plane set;
s300, screening a potential plane set possibly containing cables from the plane segmentation result based on a RanSaC algorithm by utilizing prior knowledge: fitting edge lines on two sides of the plane through a RanSaC algorithm, calculating the width of the edge lines, if the difference between the width of the edge lines and the width of the cable exceeds a certain range, considering the edge lines as unrelated planes, and removing the unrelated planes to obtain a potential plane set;
s400, acquiring a plane with the highest matching degree in the potential plane set based on sliding template matching, wherein coordinates of the plane are three-dimensional coordinates of the cable tray;
s500, feeding back the three-dimensional coordinates of the cable disc to a control system, guiding the travelling crane to run to a corresponding position by the control system, and descending the travelling crane hoisting clamp to a corresponding height;
s600, local videos of the cable drum collected by the camera device are obtained, the position where the center of the cable drum can be grabbed is identified, the travelling crane hoisting clamp is moved to the position where the travelling crane hoisting clamp can be grabbed, and the cable drum hoisting is completed.
The system can improve the warehousing efficiency; taking a low-voltage power cable with the diameter of 18 disks being 250cm and the width of the disk being 140cm as an example, a pedestrian passageway needs to be established in the existing driving storage mode, and if the width of the passageway is 90cm, the area of a storage yard for the 18 disks of low-voltage power cable is 90 square meters. By adopting the travelling crane system, the distance between two rows of cable trays is shortened to 30cm, the same number of low-voltage power cables are stored, only an outdoor storage yard of 72 square meters is needed, the area of the storage yard is saved by 20%, and the material storage efficiency of the power warehouse is greatly improved; the full-automatic warehousing and ex-warehouse management reduces the labor cost and also reduces the risk and labor intensity of manual operation; the intelligent warehouse management system is suitable for the development requirement of warehouse intellectualization.
Drawings
FIG. 1 is a diagram of the system software architecture of the present invention;
FIG. 2 is a schematic representation of a warehousing plan three-dimensional space identification according to the present invention;
FIG. 3 is a warehousing flow chart of the present invention;
FIG. 4 is a flow chart of the ex-warehouse of the present invention;
FIG. 5 is a flow chart of the execution progress determination of the present invention;
FIG. 6 is a schematic structural diagram of a traveling device according to the present invention;
FIG. 7 is a schematic plan front view of the clamp of the present invention;
FIG. 8 is a side view of the clamp of the present invention;
FIG. 9 is a perspective view of the clamp of the present invention;
FIG. 10 is a flow chart of the present invention for plane segmentation of point cloud data;
FIG. 11 is a flow chart of sliding template matching of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the description of the attached drawings and the detailed description.
Example 1
This embodiment describes the overall structure and operation flow of the system of the present invention.
The fully-automatic unmanned travelling cable tray warehousing system shown in fig. 1 comprises a loading and unloading system, a travelling control system, a warehousing management system, a communication system and a central server;
the handling system comprises a data tag identification device; the data label identification device identifies data labels on the cable tray during warehousing and ex-warehouse and sends the data labels to the warehousing management system;
the driving control system comprises a driving device, a camera device, a three-dimensional laser scanner, a monitoring device and a vehicle-mounted terminal; the camera device comprises a global camera and a local camera, and the crane device comprises a crane, a lifting appliance and a clamp; an encoder is installed on the lifting appliance, and a gravity sensor is installed on the clamp; and the vehicle-mounted terminal receives the data sent by the encoder and the gravity sensor and sends the data to the warehouse management system, so that the height information and the load data of the lifting appliance are obtained, and the cable reel is checked. Specifically, in embodiment 2, a structure of a part of the device of the vehicle control system is explained. The method comprises the following steps that a three-dimensional laser scanner obtains three-dimensional images of a transport vehicle and a cable tray, a central server positions the cable tray based on the images obtained by a camera device and the three-dimensional images obtained by the three-dimensional laser scanner, and sends the cable tray to a vehicle-mounted terminal to control a travelling crane to hoist the cable tray;
the warehousing management system comprises a warehousing database; the warehouse database stores data labels, goods position data corresponding to the data labels and a warehouse three-dimensional space model; the warehousing database updates the goods position data according to the cable tray hoisting progress of the driving control system;
the central server is used for system control of a loading and unloading system, a driving control system and a warehousing management system;
the communication system is used for communication between each system and the central server.
The system flow is as follows:
(1) planning a warehouse;
as shown in fig. 2, in order to make the most efficient use of the inventory space, a warehouse three-dimensional space model is built in the warehouse database for three-dimensional space identification. The warehouse three-dimensional space model is divided into a row space and a column space according to the row and column heights, the row space is a travelling direction of a travelling crane, the column space is a travelling crane lifting appliance moving direction, and the height is a preset layer number of cables; the space between each row and each column is the maximum cable size plus the operation space of the travelling crane sling; arranging a three-dimensional space identifier, namely a row and column high coordinate, at the row and column high position of the space division; and each unit obtained by space division sequentially corresponds to a goods position in the warehouse management system.
A monitoring interface is arranged, a shooting picture of the global camera is displayed to be used as monitoring, and a warehouse three-dimensional space model is superposed on the monitoring interface, so that the whole storage stacking state can be conveniently and clearly viewed;
meanwhile, a positioning device on the vehicle-mounted terminal acquires real-time position information of the travelling crane device in real time and displays the real-time position information in a three-dimensional space model of the warehouse in a superposition manner, so that a monitoring interface can dynamically display travelling crane operation simulation conditions, the current running state of the travelling crane and the position information;
(2) warehousing; the warehousing process is shown in FIG. 3;
the central server sends a warehousing task and generates a warehousing task list;
the warehouse management system distributes warehouse goods positions based on the warehouse task list and the data label information sent by the data label identification device, and the warehouse goods position distribution method comprises the following steps: the method comprises the steps of sequentially distributing goods positions, distributing the goods positions according to unified models, distributing the goods positions according to ordered batches, distributing the goods positions according to cable attribute item priorities or distributing rules specified by users.
The data label identification device scans the transport vehicle along a path, acquires the data labels of the cable trays and sends the data labels to the warehousing management system;
the scanning path of the data label identification device is as follows:
for the cable reel which is transversely placed, the data label identification device rounds along the transport vehicle to identify the data label of the cable reel;
for the cable reels placed in a criss-cross mode, the data label recognition device moves along the path of the cable reels placed transversely firstly, and then moves along the path of the cable reels placed longitudinally to recognize the data labels of the cable reels.
The data tag stores parameter information of the cable, including the cable model, length, weight and supplier information; and after the data label identification device identifies the data label, storing the parameter information contained in the data label to a warehousing database.
After the warehousing management system acquires the data tags, the travelling crane control system controls the travelling crane device to sequentially hoist the cable trays to the specified goods positions, and the warehousing management system updates the goods position information corresponding to the acquired data tags;
(3) taking out of the warehouse; the ex-warehouse process is shown in FIG. 4;
the central server sends the ex-warehouse task to generate an ex-warehouse task list; the sending information comprises a data label;
the warehousing management system acquires goods position information according to the data tags and sends the goods position information to the driving control system;
and the travelling crane control system controls the travelling crane lifting appliance to sequentially lift the cable disc to the warehouse-out opening, and the warehousing management system updates the goods position information to finish warehouse-out.
During warehousing and ex-warehouse, the cable tray hoisting execution progress judgment of the driving control system is carried out based on the positioning information of the vehicle-mounted terminal positioning device, the height information of the hanger and the load data of the gravity sensor, and the flow is shown in fig. 5:
s10, comparing the current load data of the gravity sensor with the load data of the previous moment by the vehicle-mounted terminal, if the load changes, skipping to S40, otherwise skipping to S20;
s20, judging whether hoisting or hoisting-down action exists or not based on the height information of the lifting appliance, and if not, acquiring driving position information based on a positioning device on the vehicle-mounted terminal to judge the direction;
s30, performing task matching, if matched warehousing or ex-warehousing tasks exist, calculating the direction of the vehicle to advance, updating the direction prompt, and ending the judgment process; otherwise, jumping to S60;
s40, judging whether hoisting or hoisting-down action exists or not based on the height information of the lifting appliance, and judging the running operation if the hoisting or hoisting-down action exists;
s50, matching tasks, if matched warehousing or ex-warehousing tasks exist, changing the operation execution state, updating the operation display, uploading the vehicle operation, and ending the judgment process; otherwise, jumping to S60;
and S60, ending.
Example 2
This embodiment specifically describes a driving device designed in a driving control system according to an example of the present invention;
fig. 6-9 show an exemplary driving control system of the present invention, and fig. 6 is a schematic structural diagram of a driving device 100, which includes a driving device, a spreader and a clamp; the traveling crane adopts a single-beam gantry electric hoist crane, and the electric hoist adopts a four-rope winding and unwinding structure; the top end of the lifting appliance is connected with the beam of the travelling crane in a sliding way and slides along the beam, and the bottom end of the lifting appliance is connected with the clamp.
Fig. 7-9 are schematic structural diagrams of a clamp of the traveling crane, wherein the clamp is of a bilateral symmetry structure and comprises a fixed arm 2, a rotating arm 1, horizontal arms 3 at two sides of the fixed arm 2, a vertical arm, a clamping arm 5 and a supporting foot 6; the fixed arm 2 is of a horizontal structure, the upper end of the middle section of the fixed arm 2 is vertically connected with the rotating arm 1, and the top of the rotating arm 1 is provided with a hole 11 for connecting a lifting hook; two ends of the fixed arm 2 extend horizontally and are connected with the horizontal arm 3 through a displacement device 31, so that the horizontal arm 3 is displaced along the horizontal direction through the displacement device; the tail end of the horizontal arm 3 is connected with a vertical arm, the vertical arm comprises a vertical arm upper section 41 and a vertical arm lower section 42, and the vertical arm upper section 41 and the vertical arm lower section 42 are connected through a telescopic device 43 to enable the vertical arm to be telescopic along the vertical direction;
the displacement device 31 comprises a gear, a slide rail, a first connecting piece and a motor; be equipped with the cavity in fixed arm 2 and the horizontal arm 3, gear, slide rail, first connecting piece and motor set up in the cavity, and gear, fixed arm 2 and horizontal arm 3 are connected to first connecting piece, drive the horizontal arm along slide rail horizontal motion through motor drive gear rotation.
The telescopic device assembly comprises a gear, a sliding rail, a second connecting piece and a motor; the joint of the vertical arm upper section 41 and the vertical arm lower section 42 is provided with a cavity, a gear, a sliding rail, a second connecting piece and a motor are arranged in the cavity, the second connecting piece is connected with the gear, the vertical arm upper section 41 and the vertical arm lower section 42, and the gear is driven by the motor to rotate so as to drive the vertical arm lower section to vertically move along the sliding rail.
The tail end of the vertical arm is connected with the clamping arm 5, as shown in fig. 7, the clamping arm 5 is in a hollow triangular structure, and is horizontally connected with the supporting foot 6 and used for supporting the cable reel 9, as shown in fig. 7, the supporting point is below the outer ring of the cable reel, and the supporting foot 6 is in a round corner structure.
In order to realize accurate positioning, the lower end of the middle section of the beam of the travelling crane is provided with a three-dimensional laser scanner 7 and a first camera 8, three cameras are arranged on the clamp, the lower end of the middle section of the fixed arm 2 is provided with a second camera 21, the cable disc is globally positioned, and the clamp is guided to move to the position above the cable disc. The third camera 44 is arranged on the inner side of the vertical arm, and in the descending process of the clamp, the third cameras 44 arranged on the vertical arms on the two sides acquire the positions of the edges of the cable drums, so that the moving direction of the clamp can be indicated according to the symmetrical conditions of the edges of the cable drums on the two sides in the visual field, and the clamp can be further finely positioned. The fourth camera 61 is arranged at the joint of the clamping arm 5 and the supporting foot 6, the fourth camera 61 observes the side arc of the disc of the cable tray, the moving direction of the clamp is determined according to the relative position of the arc and the clamping arm 5, and the fine positioning is further carried out.
The supporting feet 6 are movably connected with two corners at the bottom of the triangular clamping arm 5, the supporting feet 6 are controlled by a motor to be put down and put back, and the problem of small middle distance when cables are put side by side can be solved.
Example 3
This embodiment specifically describes a process of controlling a traveling crane device to hoist a cable tray by a traveling crane control system during warehousing and ex-warehouse; the flow of the present embodiment is expressed based on the structure of the driving device of embodiment 2.
S100, acquiring a cable drum global video acquired by a first camera 8, setting specific part characteristics of a cable drum image, performing coarse positioning by searching the specific part characteristics of the cable drum image which accord with the definition in the cable drum global video, and acquiring a coarse position of the cable drum; when the first camera 8 shoots, the travelling crane hoisting clamp is moved to the position where the edge is far away from the first camera 8;
s200, scanning the rough position of the cable tray through a three-dimensional laser scanner 7 to obtain point cloud data; carrying out plane segmentation on the point cloud data, and dividing a point set into a plane set and a non-plane set;
the point cloud segmentation step is specifically shown in fig. 10:
s201, dividing the point cloud into sub-windows according to the adjacent relation of the points in the point cloud;
s202, dividing the point sets in the sub-windows into a plane set and a non-plane set according to the three-dimensional shapes of the point sets, dividing the classified point sets, and adding the classified point sets into a plane set P and a non-plane set ∅ respectively;
s203, selecting a sub-window with the best flatness in the non-segmented part as a seed for region growth;
s204, performing region growing based on the region growing seeds, and extracting a plane region R;
s205, marking the points in the R as being segmented;
s206, counting the number of points in the R, if the number of points is larger than a threshold value t, adding the R into a plane set P, and if not, adding a non-plane set ∅;
s207, repeating S203-S206 until the segmentation is finished.
S300, screening a potential plane set possibly containing cables from the plane segmentation result based on a RanSaC algorithm by utilizing prior knowledge: fitting edge lines on two sides of the plane through a RanSaC algorithm, calculating the width of the edge lines, if the difference between the width of the edge lines and the width of the cable exceeds a certain range, considering the edge lines as unrelated planes, and removing the unrelated planes to obtain a potential plane set;
s400, acquiring a plane with the highest matching degree in the potential plane set based on sliding template matching, wherein coordinates of the plane are three-dimensional coordinates of the cable tray;
the sliding matching step is specifically shown in fig. 11:
s401, reading a 1 st plane from the potential plane set;
s402, projecting a plane from a three-dimensional space to a grid of a two-dimensional space; the side length of the grid is 1 cm;
s403, matching the projection plane by adopting a sliding template;
s404, if the matching degree is larger than a given threshold value, projecting the grid matched with the template back to a three-dimensional space, and storing the coordinates of the grid;
s405, repeating S402-S404 until all planes in the potential plane set are processed.
S500, feeding back the three-dimensional coordinates of the cable disc to a control system, guiding the travelling crane to run to a corresponding position by the control system, and descending the travelling crane hoisting clamp to a corresponding height;
s600, local videos of the cable drum collected by the second camera 21, the third camera 44 and the fourth camera 61 are obtained, the position where the center of the cable drum can be grabbed is identified, the travelling crane hoisting clamp is moved to the position where the travelling crane hoisting clamp can be grabbed, and the cable drum 9 is hoisted.
Claims (9)
1. A full-automatic cable tray warehousing system for unmanned traveling is characterized by being used for cable tray warehousing management and comprising a loading and unloading system, a traveling control system, a warehousing management system, a communication system and a central server;
the handling system comprises a data tag identification device; the data label identification device identifies data labels on the cable tray during warehousing and ex-warehouse and sends the data labels to the warehousing management system;
the driving control system comprises a driving device, a camera device, a three-dimensional laser scanner and a vehicle-mounted terminal; the three-dimensional laser scanner and the camera device are arranged at the lower end of the middle section of the beam of the travelling crane; the three-dimensional laser scanner obtains the three-dimensional image of cable dish, and the three-dimensional image location cable dish that central server obtained based on the image that the camera device acquireed and three-dimensional laser scanner acquireed includes: the method comprises the steps that a central server obtains a cable drum global video collected by a camera device, specific part characteristics of a cable drum image are set, coarse positioning is carried out in a mode of searching specific part characteristics of the cable drum image which accord with definition in the cable drum global video, and the coarse position of the cable drum is obtained; scanning the rough position of the cable drum through a three-dimensional laser scanner to obtain a three-dimensional coordinate of the cable drum;
the central server sends the three-dimensional coordinates of the cable tray to the vehicle-mounted terminal and controls the traveling crane to hoist the cable tray;
the warehousing management system comprises a warehousing database; the warehousing database stores data labels, goods position data corresponding to the data labels and a warehouse three-dimensional space model; the warehousing database updates the goods position data according to the cable tray hoisting progress of the driving control system; the warehouse three-dimensional space model is divided into a row space and a column space according to the row and column heights, the row space is a travelling direction of a travelling crane, the column space is a travelling crane lifting appliance moving direction, and the height is a preset layer number of cables; the space between each row and each column is the maximum cable size plus the operation space of the travelling crane sling; arranging a three-dimensional space identifier, namely a row and column high coordinate, at the row and column high position of the space division; each unit obtained by space division sequentially corresponds to a goods position in the warehousing management system; the vehicle-mounted terminal is provided with a positioning device, acquires real-time position information of the travelling crane device, and displays the real-time position information in the three-dimensional space model of the warehouse in a superposition manner;
the central server is used for system control of a loading and unloading system, a driving control system and a warehousing management system;
the communication system is used for communication between each system and the central server.
2. The fully automatic cable tray storage system for the unmanned vehicle according to claim 1,
the warehousing control flow of the full-automatic unmanned traveling cable tray warehousing system is as follows:
the central server sends a warehousing task, and the data label identification device scans the transport vehicles along a path to obtain the data labels of the cable trays and send the data labels to the warehousing management system;
after the warehousing management system acquires the data tags, the travelling crane control system controls the travelling crane device to sequentially hoist the cable trays to the specified goods positions, and the warehousing management system updates the goods position information corresponding to the acquired data tags;
the warehouse-out control flow of the full-automatic unmanned traveling cable tray warehousing system is as follows:
the central server sends out-of-warehouse tasks, and sending information comprises data labels;
the warehousing management system acquires goods position information according to the data tags and sends the goods position information to the driving control system;
and the traveling control system controls the traveling devices to sequentially hoist the cable trays to the warehouse-out opening, and the warehouse management system updates the goods position information to finish warehouse-out.
3. The fully automatic cable tray warehousing system for the unmanned vehicle of claim 1, wherein the scanning path of the data tag identification device is as follows:
for the cable reel which is transversely placed, the data label identification device rounds along the transport vehicle to identify the data label of the cable reel;
for the cable reels placed in a criss-cross mode, the data label recognition device moves along the path of the cable reels placed transversely firstly, and then moves along the path of the cable reels placed longitudinally to recognize the data labels of the cable reels.
4. The fully automatic cable tray warehousing system for the unmanned vehicle of claim 2, wherein the data tag stores parameter information of cables, including cable model, length, weight, supplier information; and after the data label identification device identifies the data label, storing the parameter information contained in the data label to a warehousing database.
5. The fully-automatic unmanned traveling cable tray warehousing system as claimed in claim 2 or 4, wherein the central server sends a warehousing task to generate a warehousing task list;
the warehouse management system distributes warehouse goods positions based on the warehouse task list and the data label information sent by the data label identification device, and the warehouse goods position distribution method comprises the following steps: the method comprises the steps of sequentially distributing goods positions, distributing the goods positions according to unified models, distributing the goods positions according to ordered batches, distributing the goods positions according to cable attribute item priorities or distributing rules specified by users.
6. The fully automatic walkie-talkie cable tray warehousing system of claim 1, further comprising the warehouse three-dimensional space model superimposed to a display interface of a camera device.
7. The fully automatic cable tray storage system for the unmanned aerial vehicle of claim 1, wherein the traveling device comprises a traveling vehicle, a lifting tool and a clamp; an encoder is installed on the lifting appliance, and a gravity sensor is installed on the clamp; and the vehicle-mounted terminal receives the data sent by the encoder and the gravity sensor and sends the data to the warehouse management system, so that the height information and the load data of the lifting appliance are obtained, and the cable reel is checked.
8. The fully-automatic cable tray warehousing system for the unmanned aerial vehicle according to claim 7, wherein a positioning device is arranged on the vehicle-mounted terminal, and the cable tray hoisting execution progress judgment of the driving control system is performed based on the positioning information, the height information of the lifting appliance and the load data of the gravity sensor, and the flow is as follows:
s10, comparing the current load data of the gravity sensor with the load data of the previous moment by the vehicle-mounted terminal, if the load changes, skipping to S40, otherwise skipping to S20;
s20, judging whether hoisting or hoisting-down action exists or not based on the height information of the lifting appliance, and if not, acquiring driving position information based on a positioning device on the vehicle-mounted terminal to judge the direction;
s30, performing task matching, if matched warehousing or ex-warehousing tasks exist, calculating the direction of the vehicle to advance, updating the direction prompt, and ending the judgment process; otherwise, jumping to S60;
s40, judging whether hoisting or hoisting-down action exists or not based on the height information of the lifting appliance, and judging the running operation if the hoisting or hoisting-down action exists;
s50, performing task matching, if matched warehousing or ex-warehousing tasks exist, changing the operation execution state, updating the operation display, uploading the vehicle operation, and ending the judgment process; otherwise, jumping to S60;
and S60, ending.
9. The fully automatic pedestrian-free cable tray warehousing system as claimed in claim 1, wherein the step of the center server positioning the cable tray based on the image obtained by the camera device and the three-dimensional image obtained by the three-dimensional laser scanner is as follows:
s100, acquiring a cable drum global video acquired by a camera device, setting specific part characteristics of a cable drum image, performing coarse positioning by searching specific part characteristics of the cable drum image which accord with a definition in the cable drum global video, and acquiring a coarse position of the cable drum;
s200, scanning the rough position of the cable tray through a three-dimensional laser scanner to obtain point cloud data; carrying out plane segmentation on the point cloud data, and dividing a point set into a plane set and a non-plane set;
s300, screening a potential plane set possibly containing cables from the plane segmentation result based on a RanSaC algorithm by utilizing prior knowledge: fitting edge lines on two sides of the plane through a RanSaC algorithm, calculating the width of the edge lines, if the difference between the width of the edge lines and the width of the cable exceeds a certain range, considering the edge lines as unrelated planes, and removing the unrelated planes to obtain a potential plane set;
s400, acquiring a plane with the highest matching degree in the potential plane set based on sliding template matching, wherein coordinates of the plane are three-dimensional coordinates of the cable tray;
s500, feeding back the three-dimensional coordinates of the cable disc to a control system, guiding the travelling crane to run to a corresponding position by the control system, and descending the travelling crane hoisting clamp to a corresponding height;
s600, local videos of the cable drum collected by the camera device are obtained, the position where the center of the cable drum can be grabbed is identified, the travelling crane hoisting clamp is moved to the position where the travelling crane hoisting clamp can be grabbed, and the cable drum hoisting is completed.
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