CN109969669A - A kind of unloading control method of unmanned dumper - Google Patents
A kind of unloading control method of unmanned dumper Download PDFInfo
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- CN109969669A CN109969669A CN201910175994.3A CN201910175994A CN109969669A CN 109969669 A CN109969669 A CN 109969669A CN 201910175994 A CN201910175994 A CN 201910175994A CN 109969669 A CN109969669 A CN 109969669A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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Abstract
The unloading control method of unmanned dumper, comprising: keep standby mode, Suction cup assembly is located at initial position；Receive unloading command；Generate Target Position；Driving Suction cup assembly is moved to target position from the initial position and makes the top edge of supporting plate concordant with the holding of the lower edge of cargo to be unloaded；It drives sucker to move forward relative to Suction cup assembly ontology, adsorbs cargo to be unloaded；Driving sucker is moved backward relative to Suction cup assembly ontology, and cargo to be unloaded is adsorbed on the supporting plate；Driving Suction cup assembly is rotated by 90 °；Driving Suction cup assembly drops to unloading position and makes the upper edge of supporting plate concordant with the upper surface of transfer tape assemble；It drives the multiple suckers being arranged on Suction cup assembly ontology antetheca to move forward relative to Suction cup assembly ontology, cargo to be unloaded is pushed on transfer tape assemble；Separately positioned multiple suckers and cargo to be unloaded on Suction cup assembly ontology antetheca, driving Suction cup assembly return to initial position.The present invention has the advantages that practicability is good.
Description
Technical field
The present invention relates to logistics technology more particularly to a kind of unloading control methods of unmanned dumper.
Background technique
Intelligent storage is a link in logistics progress, and the application of intelligent storage ensure that merchandise warehouse management is each
The speed and accuracy of link data input, it is ensured that enterprise timely and accurately grasps the truthful data of inventory, rationally keeps and controls
Business inventory processed.By the coding of science, easily the batch of warehouse goods, shelf-life etc. can also be managed, in time
All warehouse goods present positions are grasped, the working efficiency for improving storehouse management is conducive to.
The mode of manual handling cooperation conveyer belt transport, small portion are still widely used before handling ring program in intelligent storage
The machine tools such as fork truck can be able to cooperate by dividing, but since the standardized process in warehouse is inconsistent, also be difficult to obtain large-scale promotion.People
The mode that work carries cooperation conveyer belt transport has the following problems, is more manpower demand first, this further also brings
The rising of cost of labor.Followed by efficiency is difficult to ensure, external environment or even atrocious weather may all cause efficiency obviously
Influence, third, operating process is difficult to effectively be standardized.
Summary of the invention
The present invention is directed to design and disclose a kind of unloading control method of unmanned dumper, passed with solving manual handling cooperation
Send problem brought by the means of transportation of band.
The present invention provides a kind of unloading control method of unmanned dumper, comprising the following steps:
Unmanned dumper keeps standby mode, and Suction cup assembly is located at initial position；
Receive the unloading command of intelligent handling system output；
Generate Target Position, the target position include the relative distance of cargo coordinate and cargo to be unloaded to be unloaded；
Unmanned dumper enters preparation state, and driving Suction cup assembly is moved to target position from the initial position and makes supporting plate
Top edge is concordant with the holding of the lower edge of cargo to be unloaded；
It drives the multiple suckers being arranged on Suction cup assembly ontology antetheca to move forward relative to Suction cup assembly ontology, adsorbs wait unload
Loading object；
The multiple suckers being arranged on Suction cup assembly ontology antetheca are driven to move backward relative to Suction cup assembly ontology, it will be to be unloaded
Cargo is adsorbed on the supporting plate；
Driving Suction cup assembly is rotated by 90 °；
Driving Suction cup assembly drops to unloading position and makes the upper edge of supporting plate concordant with the upper surface of transfer tape assemble；
The multiple suckers being arranged on Suction cup assembly ontology antetheca are driven to move forward relative to Suction cup assembly ontology, it will be to be unloaded
Cargo is pushed on transfer tape assemble；
Separately positioned multiple suckers and cargo to be unloaded on Suction cup assembly ontology antetheca, driving Suction cup assembly return to initial bit
It sets.
Unloading control method disclosed in this invention based on unmanned dumper, using pedestal, mechanical arm, Suction cup assembly as core
Based on the unmanned dumper of aligning mechanical structure, cooperate intelligent warehouse management system, can be realized and automatically move and unload automatically
Function, whole process are participated in substantially without artificial, not will receive influence caused by external environment, can effectively manage unloading behaviour
Make process, has the advantages that practicability is good.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the overall structure diagram of unmanned dumper used in the present invention；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is the flow chart of the unloading control method of unmanned dumper provided by the present invention；
Fig. 4 is the structural schematic diagram that unmanned dumper is in standby；
Fig. 5 is the structural schematic diagram that unmanned dumper is in preparation state；
Fig. 6 is structural schematic diagram when unmanned dumper adsorbs cargo to be unloaded；
Fig. 7 is structural schematic diagram when cargo to be unloaded is adsorbed on supporting plate by unmanned dumper；
Fig. 8 is the top view before the rotation of unmanned dumper；
Fig. 9 is the postrotational top view of unmanned dumper；
Figure 10 is structural schematic diagram when cargo to be unloaded is pushed on transfer tape assemble by unmanned dumper.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It is as depicted in figs. 1 and 2 the whole structure of the unmanned dumper 100 for intelligent storage in embodiment of the present invention
At.Unmanned dumper 100 rests on railway platform, is working between conveyer belt in lorry cargo hold and library.Unmanned dumper 100 is main
By car body 100-1 and the Suction cup assembly being arranged on car body 100-1 101, mechanical arm 102, scan components 103, conveyer belt group
Part 104, pedestal 105 and driving assembly (not shown) composition.For intelligent warehousing system, more nothings may be provided with
People's dumper 100 constitutes multithreading intelligence handling system.The central control system of intelligent handling system is intelligent storage management system
System, for acquiring information and controlling unmanned dumper, can also be used to control simultaneously conveyer belt in library.In the following description,
For easy understanding, it is assumed that unmanned dumper 100 is one and is illustrated.Wherein Suction cup assembly 101 is arranged before car body 100-1
It holds, the mechanical arm 102 for driving Suction cup assembly 101 is provided on car body 100-1, is provided with scan components on mechanical arm 102
103.It further include the transfer tape assemble 104 that 101 rear side of Suction cup assembly is set, transfer tape assemble 104 is arranged in car body 100-1 mono-
It is simultaneously moved along car body extending direction side.It is provided with pedestal 105 below car body 100-1, is provided in car body 100-1 and mechanical arm
The driving assembly of 102 connections.
In a non-operative state, one or more unmanned dumper 100 may uniformly rest in designated position.When intelligent storehouse
When storing up management system output control signal, any one unmanned dumper 100 can star and be moved at railway platform, Huo Zhefu
Designated position is arrived in position.It, can be autonomous in orbit when any one unmanned dumper 100 moves between designated position and railway platform
It is mobile, coordinate is provided by equipment such as lasers to guide its advance.It is provided with power source in unmanned dumper 100, as diesel oil is sent out
Motivation, petrol engine etc. are also possible to not be further qualified herein using motor as power source.
Unmanned dumper 100 has the car body 100-1 in box, is provided with power source in car body 100-1, and drive it
The driving assembly of its component actuation.It defines under working condition, the front end for being car body 100-1 close to the side of truck door is close
The side of railway platform is the rear end of car body 100-1.The front end of car body 100-1 is provided with Suction cup assembly 101.Suction cup assembly 101 includes
Suction cup assembly ontology 101-2 and supporting plate 101-1.Wherein, Suction cup assembly ontology 101-2 is in box, is internally provided with vacuum pump
(not shown).Multiple sucker 101-21 are evenly arranged on the antetheca of Suction cup assembly 101.Vacuum pump and setting are in sucker group
Sucker 101-21 on 101 antetheca of part passes through pipeline connection.Specifically, each is arranged on 101 antetheca of Suction cup assembly
Sucker 101-21 can be connected to by independent pipeline with an air entry of vacuum pump.In addition, each is arranged in sucker
Sucker 101-21 on 101 antetheca of component can be connected to an intermediate duct, and intermediate duct is connected to the air entry of vacuum pump.Also
A kind of preferred embodiment can be provided, a control valve is independently arranged in the junction of intermediate duct and each sucker, controls
Valve can be with independent control.The multiple sucker 101-21 being arranged on Suction cup assembly ontology 101-2 antetheca can be relative to sucker group
Part ontology 101-2 is moved along the longitudinal direction.Suction cup assembly ontology 101-2 is vertically arranged with supporting plate 101-1, supporting plate 101-1 setting
In the lower edge position of Suction cup assembly ontology 101-2.Multiple sucker 101-21 on Suction cup assembly ontology 101-2 antetheca are set
It can be moved forward and backward on supporting plate 101-1 relative to Suction cup assembly ontology 101-2.It is uniformly arranged below in supporting plate 101-1 more
A sucker 101-22, specifically, the sucker 101-22 below supporting plate 101-1 is arranged in each can be by independent pipe
Road is connected to an air entry of vacuum pump.In addition, the sucker 101-22 below supporting plate 101-1, which is arranged in, in each can connect
Lead to an intermediate duct, intermediate duct is connected to the air entry of vacuum pump.A kind of preferred embodiment can also be provided, intermediate duct with
The junction of each sucker 101-22 is independently arranged a control valve, and control valve can be with independent control.It is arranged in sucker group
Goods may be implemented in sucker 101-21 on part ontology 101-2 antetheca and the sucker 101-22 being arranged in below supporting plate 101-1
The sticking of object and the function of disengagement, and ensure not damage goods.In the present embodiment, the holding force of sucker is tieed up by vacuum pump
It holds, vacuum pump is opened, sucker sticking cargo, and vacuum pump is closed, and sucker discharges cargo.In addition to vacuum pump, the vacuum state of sucker
It can also be provided by motor and by compressed air by secondary vacuum caused by vacuum generator.And the former needs to match
Independent vacuum system is set, the latter then needs to be equipped with air compression system, and hardware device is complicated, can increase unmanned dumper
100 cost.In the present embodiment, the load capacity of Suction cup assembly 101 is 200kg ~ 300kg.
The movement or rotation of Suction cup assembly 101 are driven by mechanical arm 102.In the present embodiment, mechanical arm 102 includes using
In the arm section mechanism 102-1 of the driving moving in rotation in setting height plane of Suction cup assembly 101, and for driving Suction cup assembly
The 101 straight-line motion mechanism 102-2 to move linearly in length direction, width direction and short transverse.Specifically, arm section mechanism
102-1 is made of a revolute pair and two prismatic pairs.With occupied space is small, working range is big, widely used excellent
Point.And on the one hand revolute pair can make Suction cup assembly 101 maintain in setting height, i.e., so that Suction cup assembly 101 is in height
It is moved on direction, while the moving in rotation in setting height plane of Suction cup assembly 101 can also be driven.The rotation of revolute pair uses
One independent motor driven.The driving assembly connecting with mechanical arm 102 is provided in car body 100-1, specifically, driving
Component includes power driving mechanism, the rack gear and/or motor-driven mechanism that are driven by electricity, if unmanned dumper
When the distance between 100 cargos grabbed with needs are smaller, i.e., when stroke is smaller, straight line fortune is directly driven by power driving mechanism
Motivation structure 102-2；If the distance between unmanned dumper 100 and the cargo for needing to grab are larger, i.e., when stroke is larger, by
The rack gear being driven by electricity uses the multiplication mechanism or motor-driven mechanism of power drives rack-driving, that is, uses
Stepper motor or servo motor driving.Straight-line motion mechanism 102-2 then can make Suction cup assembly 101 in length by crawler haulage
It is mobile to spend direction, width direction and short transverse.Movement on each direction is to drive synchronous gear by motor servo system
What shape V belt translation was realized.The interoperation of arm section mechanism 102-1 and straight-line motion mechanism 102-2 can achieve the mesh accurately unloaded
's.
Scan components 103 are laser scanner, and scanning angle is 0~270 degree or 0~360 degree, scanning distance 1~
6000 meters.Scan components 103 are for positioning position of the cargo on lorry.
The side car body 100-1 is provided with transfer tape assemble 104.Transfer tape assemble 104 is for unloading Suction cup assembly 101
Cargo transport on conveyer belt into warehouse, that is, in cargo transport to railway platform conveyer belt that Suction cup assembly 101 is unloaded.
Due in practical Discharging Process, there are difference in height between railway platform conveyer belt and transfer tape assemble 104, on transfer tape assemble 104
It is additionally provided with infrared sensor 104-1.Infrared sensor 104-1 is for detecting between railway platform conveyer belt and transfer tape assemble 104
Difference in height.Hydraulic elevator 106 is provided with below transfer tape assemble 104 to adjust the height of transfer tape assemble 104, so that the moon
It is kept between platform conveyer belt and transfer tape assemble 104 concordant.The side of transfer tape assemble 104 is along being above provided with guardrail 104-2.
Under unmanned 100 working condition of dumper, it is equally possible that there are differences in height between railway platform and lorry, in addition, nobody
Dumper 100 is also possible to work on height wooden handcart.Have the working face different there are two height on height wooden handcart.In order to guarantee nothing
People's dumper 100 is steadily mobile, overcomes on from railway platform to vehicle or overcome the difference in height of height wooden handcart car.In the present embodiment institute
In disclosed unmanned dumper 100, pedestal 105 includes the wheel 105-2 and crawler belt 105-1 that lateral wheel is arranged in.It is this
Wheel shoe formula pedestal 105 supports entire unmanned dumper 100.Since relative to common wheel, crawler belt supporting surface is big, ground pressure
Small, generally less than 0.1MPa, so sagging depth on the ground is small, rolling resistance is small, is conducive to play biggish traction
Power.
The unloading control method of unmanned dumper is specifically introduced referring to Fig. 3.The unloading control method of unmanned dumper includes
Following steps:
Unmanned dumper keeps standby mode, and Suction cup assembly is located at initial position.Specifically, when unmanned dumper keeps standby
When state, unmanned dumper is rested on railway platform, and preparation works between lorry cargo hold and Ku Nei conveyer belt.
Receive the unloading command of intelligent handling system output.Specifically, intelligent handling system can preferably identify that lorry is believed
Breath such as identifies the license plate number or car number of lorry by image identification system.If the lorry information identified and setting are believed
Breath matching then represents needs and unloads cargo from corresponding lorry cargo hold, and intelligent handling system exports unloading command and unloads to nobody
Lorry.
Unmanned dumper Generate Target Position, target position include cargo coordinate to be unloaded and cargo to be unloaded it is opposite away from
From.The sequence of unloading cargo can be executed according to blas, such as " first up and then down ", " first left and then right ", or " first up and then down ",
" first right rear left " etc., is not further qualified herein.
Specifically, generate cargo coordinate to be unloaded the following steps are included:
Acquire cargo space image.Wherein, cargo space image is acquired by scan components, i.e. laser scanner.
Collected cargo space image is filtered.Specifically, by the cargo space image of the laser scanner scans into
Row filtering, removes noise, obtains original image.Filtering, removal noise are for exclusive PCR factor.In the present embodiment, it selects
It selects median filter to be filtered the cargo space image of laser scanner scans, median filter is with neighborhood of pixel points gray value
Intermediate value replace the gray value of the pixel, while removing impulsive noise, verification noise retain anticipation edge details.
Edge detection is carried out to the cargo space image after filtering processing.A kind of preferred cargo edge detection includes following step
It is rapid: to obtain gray level image through image procossing, be defined as I1 [i, j]；Utilize gray level image described in Sobel operator extraction
Edge, wherein binarization threshold is set as 2 times of gradient magnitude mean value, obtains edge image, is defined as I2 [i, j]；It is right
The edge image I2 [i, j] carries out horizontal and vertical direction projection, is really determined using the wave crest that cargo hold edge is formed
Cargo hold marginal position；The image except cargo hold and cargo hold is removed, cargo is obtained and supports area and inner edges image, be defined as I3
[ i, j ]；Wherein cargo supports that area is the region of possible arrangement of goods；The edge in area is supported using Canny operator extraction cargo
Image is defined as I4 [i, j], and wherein high threshold is set as making the gradient magnitude of in image 30% point marginal point, low
In to being set as the 40% of the high threshold；Connect the discontinuous point in cargo support area and inner edges image I3 [i, j]:
When reaching the edge point in I3 [i, j], found within the scope of 8 adjoint points of corresponding edge image I4 [i, j]
Attachable edge is collected attachable edge and is connected until by whole discontinuous points of edge image I3 [i, j],
Obtain the edge image I5 [i, j] of cargo.
In the present embodiment, it is preferred to use method of the Sobel operator in conjunction with Canny operator.This is because Sobel operator
Realize and be easy that there is smoothing effect to noise, it is affected by noise small, accurate marginal information direction can be provided.But
The image border that Sobel operator detects may have interruption on profile.And Canny operator is due to using non-maxima suppression
And dual-threshold voltage, it is capable of detecting when real weak edge, but also detect other subtle edges in image simultaneously, is unfavorable for cargo
The extraction of profile.And in the present embodiment, the method combined using Sobel operator and Canny operator can use Canny calculation
The edge image that son obtains supplements the edge image obtained using Sobel operator, is accurately obtaining the same of edge image
When, reduce calculation amount.
Further discharging of goods profile.A kind of preferred cargo contour extraction method is the following steps are included: by row scanning goods
The edge image I5 [i, j] of object finds marginal point；If it find that marginal point, is denoted as profile point α 0, setting α 0 is contour line
Starting pixels；Creation reference picture identical with cargo support area's size, the pixel value of the reference picture are all first
Beginning turns to background pixel value, is denoted as I6 [i, j]；In 8 neighborhoods of the profile point α 0, since its left 4 adjoint point, by suitable
Clockwise finds marginal point；If searching out marginal point, corresponding setting profile is marked in I6 [i, j]
Point.The marginal point searched out should meet the following conditions: a. pixel is marginal point；B. edge in 8 adjoint points of the pixel
Put number and greater than 2 and less than 7；C. the point is background dot in I6 [i, j] interior corresponding points；D. the point is at I6 [i, j]
Marginal point number is less than 2 in 4 adjoint points of interior corresponding points；Determine the positional relationship of the setting profile point and the profile point α 0；
If the setting profile point is 8 adjoint points of the profile point α 0, it is determined as that a contour line extraction finishes；I5 [i,
J] in will extract the pixel that the contour line that finishes is connected in its enclosing region and all become background pixel value；If described set
It is identical as the coordinate of the profile point α 0 to determine profile point, then contour line extraction mistake, finds marginal point again；Calculate institute in profile
The number for the edge pixel point for including, given threshold ignore the portion that the contour line pixel number is lower than the given threshold
Point；Above-mentioned steps are repeated until extracting the integrity profile of entire cargo, obtain the position coordinates of cargo.
Coordinate conversion, determines cargo coordinate.The position coordinates that will obtain cargo are converted to the world from pixel coordinate system and sit
Mark system.
Meanwhile the relative distance of cargo is also determined using laser scanner.The relative distance of cargo is by the laser scanning
Instrument is calculated by measurement laser pulse from the time for returning to reception signal is emitted to.Wherein, the laser light incident side of laser scanner
Formula is that triangle is incident, and laser scanner issues the very narrow light pulse of a column to cargo, and pulse width is less than 50ms, and laser reaches goods
Object is partially reflected after showing.Laser scanner can be calculated from the return received and time is emitted to by measurement light pulse
The distance between cargo is further processed the relative distance that cargo can be obtained.The acquisition range of the laser scanner is 0
~360 degree or 0~270 degree, scanning distance is 1~6000 meter.
To get to cargo to be unloaded after calculating cargo coordinate and the cargo relative distance in world coordinate system
Target position.Driving Suction cup assembly is moved to target position from the initial position and makes the top edge of supporting plate and cargo to be unloaded
Lower edge keep concordant.
It drives the multiple suckers being arranged on Suction cup assembly ontology antetheca to move forward relative to Suction cup assembly ontology, opens
Vacuum pump adsorbs cargo to be unloaded.
It drives the multiple suckers being arranged on Suction cup assembly ontology antetheca to move backward relative to Suction cup assembly ontology, keeps
Cargo to be unloaded is adsorbed on the supporting plate by the open state of vacuum pump.
Driving Suction cup assembly is rotated by 90 °.
Driving Suction cup assembly drops to unloading position and makes the upper edge of supporting plate concordant with the upper surface of transfer tape assemble.
Multiple suckers for being arranged on Suction cup assembly ontology antetheca are driven to move forward relative to Suction cup assembly ontology, it will be to
Unloading cargo is pushed on transfer tape assemble
Vacuum pump is closed, separately positioned multiple suckers and cargo to be unloaded on Suction cup assembly ontology antetheca drive sucker group
Part returns to initial position.
Lorry cargo hold has certain depth, and the distance of mechanical arm driving Suction cup assembly relative movement is limited.Cause
This, after driving Suction cup assembly returns to initial position, it is preferred that scan components will acquire a cargo space image again, and will again
The cargo space image of secondary acquisition is compared with the cargo space image acquired for the first time, and unloading unmanned enough whether is formed in a judgement cargo hold
The mobile mobile space of vehicle.If being formed with the mobile mobile space of dumper unmanned enough in cargo hold, unmanned dumper to
Cargo hold stepping.The distance of stepping is set distance, avoids colliding with the cargo in cargo hold, causes unnecessary loss.It removes
The mode compared is taken to determine whether formed except enough mobile spaces in cargo hold, it can with the infrared biography in scan components
Whether there are enough moving distances in sensor detection cargo hold.Infrared sensor ranging is technology mature in the prior art, herein
It is not further introduced.
Unloading control method disclosed in this invention based on unmanned dumper, using pedestal, mechanical arm, Suction cup assembly as core
Based on the unmanned dumper of aligning mechanical structure, cooperate intelligent warehouse management system, can be realized and automatically move and unload automatically
Function, whole process are participated in substantially without artificial, not will receive influence caused by external environment, can effectively manage unloading behaviour
Make process, has the advantages that practicability is good.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of unloading control method of unmanned dumper, which comprises the following steps:
Unmanned dumper keeps standby mode, and Suction cup assembly is located at initial position；
Receive the unloading command of intelligent handling system output；
Generate Target Position, the target position include the relative distance of cargo coordinate and cargo to be unloaded to be unloaded；
Unmanned dumper enters preparation state, and driving Suction cup assembly is moved to target position from the initial position and makes supporting plate
Top edge is concordant with the holding of the lower edge of cargo to be unloaded；
It drives the multiple suckers being arranged on Suction cup assembly ontology antetheca to move forward relative to Suction cup assembly ontology, adsorbs wait unload
Loading object；
The multiple suckers being arranged on Suction cup assembly ontology antetheca are driven to move backward relative to Suction cup assembly ontology, it will be to be unloaded
Cargo is adsorbed on the supporting plate；
Driving Suction cup assembly is rotated by 90 °；
Driving Suction cup assembly drops to unloading position and makes the upper edge of supporting plate concordant with the upper surface of transfer tape assemble；
The multiple suckers being arranged on Suction cup assembly ontology antetheca are driven to move forward relative to Suction cup assembly ontology, it will be to be unloaded
Cargo is pushed on transfer tape assemble；
Separately positioned multiple suckers and cargo to be unloaded on Suction cup assembly ontology antetheca, driving Suction cup assembly return to initial bit
It sets.
2. the unloading control method of unmanned dumper according to claim 1, which is characterized in that further comprising the steps of:
Determine whether form mobile space in cargo hold；If forming mobile space in cargo hold, unmanned dumper is to cargo hold stepping.
3. the unloading control method of unmanned dumper according to claim 2, which is characterized in that
Generate cargo coordinate to be unloaded the following steps are included:
Acquire cargo space image；
Collected cargo space image is filtered；
Edge detection is carried out to the cargo space image after filtering processing；
Discharging of goods profile；
Coordinate conversion, determines cargo coordinate.
4. the unloading control method of unmanned dumper according to claim 3, which is characterized in that
To after filtering processing cargo space image carry out edge detection the following steps are included:
The gray level image for generating the cargo space image is defined as I1 [i, j]；
Using the edge of gray level image described in Sobel operator extraction, wherein binarization threshold is set as the 2 of gradient magnitude mean value
Times, edge image is obtained, I2 [i, j] is defined as;
Horizontal and vertical direction projection is carried out to the edge image I2 [i, j], the wave crest formed using cargo hold edge
Determine cargo hold marginal position；
The image except cargo hold and cargo hold is removed, cargo is obtained and supports area and inner edges image, be defined as I3 [i, j]；
The edge image that area is supported using Canny operator extraction cargo, is defined as I4 [i, j], wherein high threshold is set as
Make the gradient magnitude of in image 30% point marginal point, Low threshold is set as the 40% of the high threshold；
Connect the discontinuous point in cargo support area and inner edges image I3 [i, j]: when in arrival I3 [i, j]
When edge point, attachable edge is found within the scope of 8 adjoint points of corresponding edge image I4 [i, j], collection can connect
Edge connected until by whole discontinuous points of edge image I3 [i, j], obtain cargo edge image I5 [
i, j ]。
5. the unloading control method of unmanned dumper according to claim 4, which is characterized in that
Discharging of goods profile the following steps are included:
The edge image I5 [i, j] of the cargo is scanned by row, finds marginal point；
If it find that marginal point, is denoted as profile point α 0, setting α 0 is the starting pixels of contour line；
Creation reference picture identical with cargo support area's size, the pixel value of the reference picture are all initialized as carrying on the back
Scape pixel value is denoted as I6 [i, j]；
In 8 neighborhoods of the profile point α 0, since its left 4 adjoint point, in the direction of the clock, marginal point is found；
If searching out marginal point, corresponding setting profile point is marked in I6 [i, j]；
Determine the positional relationship of the setting profile point and the profile point α 0；If the setting profile point is the profile point
8 adjoint points of α 0 are then determined as that a contour line extraction finishes；The contour line finished will be extracted in I5 [i, j] is connected to it
Pixel in enclosing region all becomes background pixel value；If the coordinate phase of the setting profile point and the profile point α 0
Together, then contour line extraction mistake, finds marginal point again；
The number of edge pixel point included in profile is calculated, given threshold is ignored the contour line pixel number and is lower than
The part of the given threshold；
Above-mentioned steps are repeated until extracting the integrity profile of entire cargo, obtain the position coordinates of cargo.
6. the unloading control method of unmanned dumper according to claim 5, which is characterized in that the marginal point searched out is full
Foot: a. pixel is marginal point；B. marginal point number and it is greater than 2 and less than 7 in 8 adjoint points of the pixel；C. the point exists
I6 [i, j] interior corresponding points are background dot；D. point marginal point number in 4 adjoint points of I6 [i, j] interior corresponding points is small
In 2.
7. the unloading control method of unmanned dumper according to claim 6, which is characterized in that coordinate is converted to cargo
Contour images coordinate is converted to world coordinate system from pixel coordinate system.
8. the unloading control method of unmanned dumper according to claim 7, which is characterized in that
The relative distance of cargo to be unloaded is calculated by measurement laser pulse from the time for returning to reception signal is emitted to.
9. the unloading control method of unmanned dumper according to claim 8, which is characterized in that the cargo space image and swash
Light pulse is acquired from the time for returning to reception signal is emitted to by laser scanner.
10. the unloading control method of unmanned dumper according to claim 9, which is characterized in that the laser scanner
Acquisition range be 0~360 degree or 0~270 degree, scanning distance be 1~6000 meter.
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