CN110406881A - A kind of aluminium ingot automatic clamping is got on the bus method, apparatus and system - Google Patents
A kind of aluminium ingot automatic clamping is got on the bus method, apparatus and system Download PDFInfo
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- CN110406881A CN110406881A CN201910488059.2A CN201910488059A CN110406881A CN 110406881 A CN110406881 A CN 110406881A CN 201910488059 A CN201910488059 A CN 201910488059A CN 110406881 A CN110406881 A CN 110406881A
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- aluminium ingot
- vehicle
- cargo area
- carriage
- driving
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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
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
It gets on the bus method the invention discloses a kind of aluminium ingot automatic clamping, the method for getting on the bus includes: to obtain the order information of the aluminium ingot；After driving into specified parking stall in carriage of vehicle, carriage of vehicle described in automatically scanning；Scanning result feeds back to three-dimensional artificial processing module, carries out three-dimensional artificial calculating, obtains the cargo area of the carriage of vehicle；Calculate quantity and the placement position of the aluminium ingot that the cargo area can load；Operation drives a vehicle and clamps the aluminium ingot for being deposited in the specified location；Operation drives a vehicle and the aluminium ingot is successively placed at the placement position in the cargo area；It reruns driving, until the cargo area piles with the aluminium ingot quantity in the aluminium ingot or the complete order information of the cargo area heap；Get on the bus that existing large labor intensity, working efficiency are low, have the technical issues of security risk so that aluminium ingot can be solved.
Description
Technical field
It gets on the bus method, apparatus and system the present invention relates to a kind of aluminium ingot automatic clamping, belongs to aluminium ingot outbound and get on the bus technology neck
Domain.
Background technique
In aluminium ingot ex-warehouse system, it is a very important link that aluminium ingot carrying, which is got on the bus,.People are using artificial at present
Fork truck come realize aluminium ingot entrucking work.That aluminium ingot is realized by artificial fork truck gets on the bus that there are the following problems: 1, fork truck
Carrying there are it is with low content of technology, repeated high, job specification is single uninteresting the problems such as, cause staff to be easy to produce and be weary of sense
With sense tired out, long-term work working efficiency is high；2, being loaded using fork truck needs truck driver to have consummate driving technology, employs
The skilled Forklift Worker's expense of one jag vehicle is high.3, for truck driver when being transported goods using fork truck, there are one
Fixed blind area, when truck driver uses carrying fork truck cargo, there are certain safety issues in this way.
Summary of the invention
It gets on the bus method and device the technical problem to be solved by the present invention is providing a kind of aluminium ingot automatic clamping, for solving
The artificial outbound of aluminium ingot is got on the bus in the prior art, and existing large labor intensity, working efficiency are low, have the technical issues of security risk.
The technical scheme is that
It gets on the bus method in a first aspect, the present invention provides a kind of aluminium ingot automatic clamping, the method for getting on the bus includes:
S1, the order information for obtaining the aluminium ingot, the order information includes the quantity information of the aluminium ingot；
S2, after driving into specified parking stall in carriage of vehicle, start laser scanning device and automatically begin to scan the carrying
Vehicle；
S3, scanning result feed back to three-dimensional artificial processing module, carry out three-dimensional artificial calculating, obtain the carriage of vehicle
Cargo area；
S4, the quantity for calculating the aluminium ingot that the cargo area can load and placement position；
S5, operation drive a vehicle and clamp the aluminium ingot for being deposited in specified location；
S6, operation drive a vehicle and the aluminium ingot are successively placed at the placement position in the cargo area；
S8, S5 to S6 is repeated, until the cargo area piles with the aluminium ingot or the cargo area heap is complete described orders
The aluminium ingot quantity in single information.
Second aspect, the present invention provide a kind of aluminium ingot automatic clamping device of boarding, and the device of boarding includes:
Module is obtained, is used for: obtaining the order information of the aluminium ingot, the order information includes the quantity letter of the aluminium ingot
Breath；
Scan module is used for: after driving into specified parking stall in carriage of vehicle, starting laser scanning device automatically begins to sweep
Retouch the carriage of vehicle；
First computing module, is used for: scanning result feeds back to three-dimensional artificial processing module, carries out three-dimensional artificial calculating, obtains
Take the cargo area of the carriage of vehicle；
Second computing module, is used for: calculating the quantity for the aluminium ingot that the cargo area can load, and puts position
It sets；
First transportation module, is used for: operation drives a vehicle and clamps the aluminium ingot for being deposited in specified location；
Second transportation module, is used for: operation driving and described in the aluminium ingot is successively placed in the cargo area
At placement position；
Loop module is used for: repeat the first transportation module, the second transportation module, until the cargo area pile with it is described
The aluminium ingot quantity in aluminium ingot or the complete order information of the cargo area heap.
The third aspect is got on the bus system, including memory, processor and storage the present invention also provides a kind of aluminium ingot automatic clamping
On a memory and the computer program that can run on a processor, the processor realize following step when executing described program
It is rapid:
S1, the order information for obtaining the aluminium ingot, the order information includes the quantity information of the aluminium ingot；
S2, after driving into specified parking stall in carriage of vehicle, start laser scanning device and automatically begin to scan the carrying
Vehicle；
S3, scanning result feed back to three-dimensional artificial processing module, carry out three-dimensional artificial calculating, obtain the carriage of vehicle
Cargo area；
S4, the quantity for calculating the aluminium ingot that the cargo area can load and placement position；
S5, operation drive a vehicle and clamp the aluminium ingot for being deposited in specified location；
S6, operation drive a vehicle and the aluminium ingot are successively placed at the placement position in the cargo area；
S7, S5 to S6 is repeated, until the cargo area piles with the aluminium ingot or the cargo area heap is complete described orders
The aluminium ingot quantity in single information.
Fourth aspect, the present invention provide a kind of computer readable storage medium, are stored thereon with computer program, the program
It is performed the steps of when being executed by processor
S1, the order information for obtaining the aluminium ingot, the order information includes the quantity information of the aluminium ingot；
S2, after driving into specified parking stall in carriage of vehicle, start laser scanning device and automatically begin to scan the carrying
Vehicle；
S3, scanning result feed back to three-dimensional artificial processing module, carry out three-dimensional artificial calculating, obtain the carriage of vehicle
Cargo area；
S4, the quantity for calculating the aluminium ingot that the cargo area can load and placement position；
S5, operation drive a vehicle and clamp the aluminium ingot for being deposited in the specified location；
S6, operation drive a vehicle and the aluminium ingot are successively placed at the placement position in the cargo area；
S7, S5 to S6 is repeated, until the cargo area piles with the aluminium ingot or the cargo area heap is complete described orders
The aluminium ingot quantity in single information.
The beneficial effects of the present invention are: the present invention travels carriage of vehicle on parking stall, swept by laser scanning device
Aluminium ingot is transported to cargo area from designated position by driving a vehicle by the cargo area for retouching and obtaining carriage of vehicle, which can realize
It will be on aluminium ingot automatic transporting to carriage of vehicle.The present invention can replace traditional artificial fork truck to realize that full-automatic aluminium ingot is got on the bus function
Energy.Be able to solve existing safety problem during traditional aluminium ingot is got on the bus through the invention, improve aluminium ingot carrying and on
Vehicle efficiency makes aluminium ingot carry operation of getting on the bus and realizes comprehensive intellectually and automatically.
Detailed description of the invention
Fig. 1 is the method flow diagram that aluminium ingot automatic clamping of the present invention is got on the bus；
Fig. 2 is the structure drawing of device that aluminium ingot automatic clamping of the present invention is got on the bus；
Fig. 3 is another device block diagram provided by the invention；
Fig. 4 is the schematic diagram of computer-readable medium provided by the invention；
Fig. 5 is a kind of structure chart for automating system of getting on the bus；
In attached drawing: 1 support frame, 2 tracks, 3 moving members, 4 laser scanning devices, 5 three axis Linear slide platforms, 6 fixtures, 7 controls
Center, 8 carriage of vehicle.
Specific embodiment
With reference to the accompanying drawing and invention is described further in specific embodiment:
Technical solution in the embodiment of the present invention, general thought are as follows:
S1, the order information for obtaining the aluminium ingot, the order information includes the quantity information of the aluminium ingot；
S2, after driving into specified parking stall in carriage of vehicle, start laser scanning device and automatically begin to scan the carrying
Vehicle；
S3, scanning result feed back to three-dimensional artificial processing module, carry out three-dimensional artificial calculating, obtain the carriage of vehicle
Cargo area；
S4, the quantity for calculating the aluminium ingot that the cargo area can load and placement position；
S5, operation drive a vehicle and clamp the aluminium ingot for being deposited in specified location；
S6, operation drive a vehicle and the aluminium ingot are successively placed at the placement position in the cargo area；
S7, S5 to S6 is repeated, until the cargo area piles with the aluminium ingot or the cargo area heap is complete described orders
The aluminium ingot quantity in single information.
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 embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Embodiment one
A kind of aluminium ingot automatic clamping of the embodiment of the present invention is got on the bus method, referring to FIG. 1, the method for getting on the bus includes:
S1, the order information for obtaining the aluminium ingot, the order information includes the quantity information of the aluminium ingot；
S2, after driving into specified parking stall in carriage of vehicle 8, start laser scanning device 4 and automatically begin to scan the load
Transport vehicle 8；
S3, scanning result feed back to three-dimensional artificial processing module, carry out three-dimensional artificial calculating, obtain the carriage of vehicle 8
Cargo area；
S4, the quantity for calculating the aluminium ingot that the cargo area can load and placement position；
S5, operation drive a vehicle and clamp the aluminium ingot for being deposited in specified location；
S6, operation drive a vehicle and the aluminium ingot are successively placed at the placement position in the cargo area；
S7, S5 to S6 is repeated, until the cargo area piles with the aluminium ingot or the cargo area heap is complete described orders
The aluminium ingot quantity in single information.
It should be noted that the earth station that the method for getting on the bus can be applied to have computer operation control function (should
Earth station is a portable box body, is built-in with an integrated laptop) or long-range controlling terminal (such as behaviour
Control room, monitoring room etc.).In other words, the above-mentioned steps of the embodiment of the present invention include the steps that it is following will illustrate, execute master
Body can be the earth station with computer operation function, can thus control at the scene the method for getting on the bus of aluminium ingot,
It is also possible to long-range controlling terminal (such as control room, monitoring room), the method for getting on the bus of aluminium ingot can be remotely being carried out in this way
Control.
Specifically, in aluminium ingot outbound, it is a very important link that aluminium ingot carrying, which is got on the bus,.People use at present
Artificial fork truck realizes the entrucking work of aluminium ingot, and there are large labor intensity, low efficiencys, and there is security risk etc. to ask for this kind of mode
Topic.
Based on this, the embodiment of the present invention one provides aluminium ingot automatic clamping and gets on the bus method, for solving above-mentioned technical problem.
In the following, describing in detail in conjunction with Fig. 1 to the aluminium ingot outbound method of getting on the bus that the embodiment of the present invention one provides:
Firstly, obtaining the order information of the aluminium ingot, the order information includes the quantity information of the aluminium ingot:
Applicant obtain outbound get on the bus aluminium ingot order information after, can be entered into system, wherein order information
The predominantly quantity information of aluminium ingot also may include the dimension information of aluminium ingot certainly.
Aluminium ingot is usually made by casting technique, and qualified its outer dimension of aluminium ingot is within the scope of allowable error.It casts
Aluminium ingot general norm stacking in warehouse area.For various sizes of aluminium ingot, the different location in warehouse area is usually piled up.
Secondly, starting laser scanning device 4 is automatically begun to described in scanning after driving into specified parking stall in carriage of vehicle 8
Carriage of vehicle 8:
Specifically, preassigning the boarding position of carriage of vehicle 8, when getting on the bus, first carriage of vehicle 8 is driven into specified
Parking stall, then start laser scanning device 4 start scan carriage of vehicle 8, to obtain three dimension of shape of carriage of vehicle 8
According to.
For example, driving includes support frame 1, rail as shown in figure 5, arranging driving around the specified parking stall of carriage of vehicle 8
Road 2, three axis Linear slide platforms 5, fixture 6, moving member 3 and control centre 7, two tracks 2 are arranged in along 8 length direction of carriage of vehicle
On support frame 1, three axis Linear slide platforms 5 are removably set between two tracks 2, and three axis Linear slide platforms 5 can be along the length of two tracks 2
Direction is mobile, and fixture 6 is mounted on the lower end of three axis Linear slide platforms 5, and for clamping aluminium ingot, moving member 3 is removably set on fixture 6
Between two tracks 2, moving member 3 can be moved along the length direction of two tracks 2, the initial position of moving member 3 and three axis Linear slide platforms 5
The both ends of track 2 are arranged in, not influence the movement of the two.Control centre 7 be mainly used for control three axis Linear slide platforms 5,
The movement of fixture 6, moving member 3 can be foregoing (earth station, earth station with computer operation control function
For a portable box body, it is built-in with an integrated laptop), it can also be that long-range controlling terminal (such as manipulates
Room, monitoring room etc.).
Laser scanning device 4 is mounted on moving member 3, and moving member 3 can be followed mobile, to realize to carriage of vehicle 8
Scanning.In general, laser scanning device 4 is made of two three-dimensional laser scanners for being arranged in the both ends of moving member 3, with reality
Now to the accurate scanning of carriage of vehicle 8.Two three-dimensional laser scanners can obtain carriage of vehicle 8 after scanning carriage of vehicle 8
Three-dimensional modeling data.It is this field that the scanning of laser scanning device 4, which obtains the three-dimensional data of carriage of vehicle 8 and establishes threedimensional model,
Common knowledge.
Then, scanning result feeds back to three-dimensional artificial processing module, carries out three-dimensional artificial calculating, obtains the carriage of vehicle
8 cargo area:
By the three-dimensional data and threedimensional model of the carriage of vehicle 8 that laser scanning device 4 obtains, carriage of vehicle 8 is calculated
Cargo area.Since the threedimensional model of carriage of vehicle 8 is that some points converge conjunction, each scanning element is relative to 3 d space coordinate system
Xyz has the coordinate of oneself, and the point cloud coordinate of cargo area can be extracted according to coordinate.Specifically, on the basis of xoy plane,
The point for being parallel to xoy plane converges conjunction and is mainly made of two parts, and a part is that the point of headstock converges conjunction plane, accounts for about entire point
The 25% of cloud plane, a part are that the point of cargo area converges conjunction plane, account for about the 75% of entire point cloud plane.By calculating point
The area of conjunction plane is converged to determine cargo area.In one example, when cloud area is less than 5% system of whole point cloud area
System is determined as other；When cloud area is less than the 30% of whole point cloud area and is greater than 5%, system is determined as headstock；Work as a little
Cloud area is greater than the 30% of whole point cloud area, and system is determined as cargo area.
After the point for getting cargo area plane converges conjunction, it can be worth the height of cargo area by cloud z, lead to
X, the y for crossing cargo area boundary point cloud are worth the length and width of cargo area.
Then, quantity and the placement position of the aluminium ingot that the cargo area can load are calculated:
Due to aluminium ingot size it is known that add known cargo area length and width, cargo area can be calculated
The line number and columns of aluminium ingot can be loaded.In other words, that is, it may know that cargo area can load the aluminium ingot of how many row, Yi Jiduo
The aluminium ingot arranged less, and may know that the specific placement position of each aluminium ingot.For example, being to be somebody's turn to do with the Geometric center coordinates of aluminium ingot bottom surface
The space coordinate of aluminium ingot can calculate each placement position coordinate by line number and columns.
The size of aluminium ingot can be manually entered, and can also be obtained according to order information.In general, the size of aluminium ingot is all standard
Size is a fixed value, can be embedded into program.
Then, operation drives a vehicle and clamps the aluminium ingot for being deposited in the specified location；
Then, operation drives a vehicle and the aluminium ingot is successively placed at the placement position in the cargo area；
Finally, repeating the clamping of driving and putting movement, until the cargo area piles with the aluminium ingot or the load
The aluminium ingot quantity in the complete order information of goods area domain heap.
Specifically, the coordinate that specified location can be obtained, since the coordinate at each placement position in cargo area is also
Clearly, therefore the clamping of driving and the specific path put and movement can be worked out.Optionally, the operational method of driving are as follows:
The aluminium ingot is preset in the sequence of putting of each placement position, such as can be arranged line by line from from near-car head
Column, can also arrange by column from one long side of cargo area；
It runs above the driving to the designated position, it is automatic to transfer fixture 6 and complete to being stacked at the specific bit
Set the clamping of the aluminium ingot at place；
After the clamping for completing the aluminium ingot, the fixture 6 is moved up, and is run the driving to aluminium ingot described in this and is answered specific heap
The top for the placement position put；
Automatically the fixture 6 is transferred, the fixture 6 unclamps and the aluminium ingot is placed at the placement position；
The driving of reruning gradually clamps the aluminium ingot and it is successively placed in the pendulum by the sequence of putting
It puts at position, until the cargo area piles with the institute in the aluminium ingot or the complete order information of the cargo area heap
State aluminium ingot quantity.
When quantity on order is more than after the quantity that time carriage of vehicle 8 can load, after having loaded current carriage of vehicle 8,
Stop driving and the transport of AGV trolley.Entrucking is rescaned after next carriage of vehicle 8 drives into parking stall, then by this method,
The quantity that quantity on order at this time loads before should reducing.
As for the aluminium ingot of specified location, it can constantly be stacked by fork truck, AGV trolley can also be used and removed
Fortune.AGV trolley, which refers to, magnetically or optically waits homing guidances device equipped with electricity, can travel along defined guide path, have peace
The transport vehicle of full guard and various transfer functions is not required to the carrier of driver in industrial application, with chargeable battery
For its power resources.It can pass through computer generally to control its travelling route and behavior, or set up its row using electromagnetic path 2
Route line, electromagnetic path 2 stick on floor, automatic guided vehicle then follow message brought by electromagnetic path 2 carry out it is mobile with
Movement.AGV trolley is widely used in carry an object, is a kind of very mature technology.Specifically, the operational method of AGV trolley are as follows:
A, the route of the AGV trolley is preset, the route is to stack the warehouse area of the aluminium ingot to described specified
Path at position, so that aluminium ingot is constantly transported to specified location from warehouse area along the path by AGV trolley, it should be noted that
, which is the position that driving can clamp aluminium ingot, which is located at around carriage of vehicle 8, preferably adjacent to load
Transport the tail portion of vehicle 8.
B, the aluminium ingot being deposited in the warehouse area is transported by the designated position place according to the AGV trolley
The time required for one cycle of operation is completed in the time needed and the driving, and the AGV for matching respective numbers is small
Vehicle.According to the transporting velocity of AGV trolley and the path length of each circulation, can obtain needed for each carrying circulation A GV trolley
Time.The time required for one cycle of operation is completed further according to driving, the AGV trolley of respective numbers can be matched, with reality
Existing seamless interfacing, improves working efficiency.It should be noted that paying attention to there is not road between each other when carrying using multiple AGV trolleies
Path interferometer.
C, the AGV trolley successively transports and the aluminium ingot is deposited in the designated position before driving clamping
Place, wherein the aluminium ingot quantity of the AGV trolley transport is the aluminium ingot quantity in the order information, when quantity on order is big
After the quantity that Yu Dangci carriage of vehicle 8 can load, AGV trolley carries the aluminium ingot quantity when time carriage of vehicle 8 can load.
Based on the same inventive concept, the embodiment of the invention also provides device corresponding with a kind of method of embodiment, see reality
Apply example two.
Embodiment two
Second embodiment of the present invention provides a kind of devices to be used for referring to FIG. 2, described device includes: acquisition module: obtaining
The order information of the aluminium ingot is taken, the order information includes the quantity information of the aluminium ingot；Scan module is used for: in carrying
After vehicle drives into specified parking stall, starting laser scanning device automatically begins to scan the carriage of vehicle；First computing module,
For: scanning result feeds back to three-dimensional artificial processing module, carries out three-dimensional artificial calculating, obtains the loading area of the carriage of vehicle
Domain；Second computing module, is used for: calculating quantity and the placement position of the aluminium ingot that the cargo area can load；The
One transportation module, is used for: operation drives a vehicle and clamps the aluminium ingot for being deposited in specified location；Second transportation module, is used for: fortune
The aluminium ingot is simultaneously successively placed at the placement position in the cargo area by every trade vehicle；Loop module is used for: being repeated
First transportation module, the second transportation module, until the cargo area piles with the aluminium ingot or the complete institute of the cargo area heap
State the aluminium ingot quantity in order information.
In the embodiment of the present invention two, the operational method of the driving are as follows: preset the aluminium ingot and described put each
Put sequence in position；It runs above the driving to the designated position, it is automatic to transfer fixture and complete described to being stacked at
The clamping of the aluminium ingot of specified location；After the clamping for completing the aluminium ingot, the fixture is moved up, and runs the driving to originally
The top for the placement position that the secondary aluminium ingot should specifically be stacked；Automatically the fixture is transferred, the fixture unclamps and by institute
Aluminium ingot is stated to be placed at the placement position；Rerun it is described driving gradually clamp the aluminium ingot and by its by it is described put it is suitable
Sequence is successively placed at the placement position.
As for the aluminium ingot of specified location, can be realized by method described in embodiment one.
By the device that the embodiment of the present invention two is introduced, filled used by the method to implement the embodiment of the present invention one
It sets, so based on the method that the embodiment of the present invention one is introduced, the affiliated personnel in this field can understand the specific structure of the device
And deformation, so details are not described herein.Device used by the method for all embodiment of the present invention one belongs to the present invention and is intended to
The range of protection.
Embodiment three
Referring to Fig. 3, it should be noted that one, the same inventive technique of embodiment two based on the above embodiment, the present invention
Embodiment three provides a kind of system, comprising: radio circuit 310, memory 320, input unit 330, display unit 340, sound
The components such as frequency circuit 350, WiFi module 360, processor 370 and power supply 380.Wherein, being stored on reservoir 320 can be
The computer program run on processor 370, processor 370 are realized when executing the computer program described in embodiment one kind
Step S1, S2, S3, S4, S5, S6, S7.
In the specific implementation process, when processor executes computer program, any reality in embodiment one, two may be implemented
Apply mode.
It will be understood by those skilled in the art that the restriction of the not structure twin installation of apparatus structure shown in Fig. 3 itself, it can
To include perhaps combining certain components or different component layouts than illustrating more or fewer components.
It is specifically introduced below with reference to each component parts of the Fig. 3 to computer equipment:
Radio circuit 310 can be used for sending and receiving for signal, particularly, after the downlink information of base station is received, to place
Manage device processing.In general, radio circuit 310 including but not limited at least one amplifier, transceiver, coupler, low noise are put
Big device, duplexer etc..
Memory 320 can be used for storing software program and module, and processor 370 is stored in memory 320 by operation
Software degree and module, thereby executing the various function application and data processing of computer equipment.Memory 320 can be led
It to include storing program area and storage data area, wherein storing program area can be needed for storage program area, at least one function
Application program etc.；Storage data area, which can be stored, uses created data etc. according to computer equipment.In addition, memory 320
It may include high speed random access memory, can also include nonvolatile memory, for example, at least disk memory, a flash memory
Device or other volatile solid-state parts.
Input unit 330 can be used for receiving the number or character information of input, and generate the user with computer equipment
Setting and the related key signals input of function control.Specifically, input unit 330 may include keyboard 331 and other inputs
Equipment 332.Keyboard 331 collects the input operation of user on it, and the corresponding connection of driving according to a pre-set procedure
Device.Keyboard is conveyed to processor 370 after collecting output information again.In addition to keyboard 331, input unit can also include other
Input equipment 332.Specifically, other input equipments 332 can include but is not limited to touch panel, function key (such as volume control
Key processed, switch key lamp), trace ball, mouse, one of operating stick etc. or a variety of.
Display unit 340 can be used for showing information input by user or the information and computer equipment that are supplied to user
Various menus.Display unit 340 may include display panel 341, it is alternatively possible to using liquid crystal display, organic light emission two
The forms such as pole pipe configure display panel 341.Further, keyboard 331 can cover display panel 341, when keyboard 331 detects
After touch operation on it or nearby, processor 370 is sent to determine the type of touch event, is followed by subsequent processing device 370
Corresponding visual output is provided on display panel 341 according to the type of incoming event.Although keyboard 331 and display surface in Fig. 3
Plate 341 is the input and input function for realizing computer equipment as two independent components, but in certain embodiments,
Can by keyboard 331 and display panel collection 341 at and that realizes computer equipment output and input function.
Voicefrequency circuit 350, loudspeaker 351, microphone 352 can provide the audio interface between user and computer equipment.
Electric signal after the audio data received conversion can be transferred to loudspeaker 351, be converted by loudspeaker 351 by voicefrequency circuit 350
For voice signal output.
WiFi belongs to short range wireless transmission technology, and computer equipment can help user to receive and dispatch by WiFi module 360
Email, browsing webpage and access streaming video etc., it provides wireless broadband internet access for user.Although Fig. 3
In show WiFi module 360, but it is understood that, and be not belonging to must be configured into for computer equipment, completely can be with
It omits within the scope of not changing the essence of the invention as needed.
Processor 370 is the control centre of computer equipment, utilizes various interfaces and the entire computer equipment of connection
Various pieces, by running or execute the software program and/or module that are stored in memory, and call and be stored in storage
Data in device 320 execute the various functions and processing data of computer equipment, to carry out whole prison to computer equipment
Control.Optionally, processor 320 can enter oneself for the examination one or more processing units；Preferably, processor 320 can integrate application processor,
Wherein, the main processing operation system of application processor, user interface and application program etc..
Computer equipment further includes the power supply 380 (such as power supply adaptor) powered to all parts, it is preferred that power supply can
With logically contiguous by power-supply management system and processor 370.
Example IV
Based on the same inventive concept, as shown in figure 4, the present embodiment four provides a kind of computer readable storage medium 400,
It is stored thereon with computer program 411, step described in embodiment one kind is realized when which is executed by processor
S1、S2、S3、S4、S5、S6、S7。
In the specific implementation process, it when which is executed by processor, may be implemented in embodiment one, two
Any embodiment.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes that the computer of computer usable program code can that one or more, which can be used, in the present invention
With the computer program product implemented in storage medium (including but not limited to harddisk memory, CD-ROM, optical memory etc.)
Form.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other section's programming data processing equipments to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable medium storage device that mode works, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be on device to computer or other programmable data processing devices, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, In
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (6)
- A kind of method 1. aluminium ingot automatic clamping is got on the bus, the method for getting on the bus include:S1, the order information for obtaining the aluminium ingot, the order information includes the quantity information of the aluminium ingot；S2, after driving into specified parking stall in carriage of vehicle, start laser scanning device and automatically begin to scan the carriage of vehicle；S3, scanning result feed back to three-dimensional artificial processing module, carry out three-dimensional artificial calculating, obtain the loading of the carriage of vehicle Region；S4, the quantity for calculating the aluminium ingot that the cargo area can load and placement position；S5, operation drive a vehicle and clamp the aluminium ingot for being deposited in specified location；S6, operation drive a vehicle and the aluminium ingot are successively placed at the placement position in the cargo area；S7, S5 to S6 is repeated, until the cargo area piles with the aluminium ingot or the complete order letter of the cargo area heap The aluminium ingot quantity in breath.
- The method 2. aluminium ingot automatic clamping according to claim 1 is got on the bus, which is characterized in that the operational method of the driving Are as follows:It presets the aluminium ingot and puts sequence in each placement position；The driving is run to above designated position, it is automatic to transfer fixture and complete to being stacked at described in the specified location The clamping of aluminium ingot；After the clamping for completing the aluminium ingot, the fixture is moved up, and runs what the driving should specifically be stacked to aluminium ingot described in this The top of the placement position；Automatically the fixture is transferred, the fixture unclamps and the aluminium ingot is placed at the placement position；The driving of reruning gradually clamp the aluminium ingot and by its by it is described put sequence and be successively placed in described put position Set place.
- 3. a kind of aluminium ingot automatic clamping device of boarding, the device of boarding include:Module is obtained, is used for: obtaining the order information of the aluminium ingot, the order information includes the quantity information of the aluminium ingot；Scan module is used for: after driving into specified parking stall in carriage of vehicle, starting laser scanning device automatically begins to scanning institute State carriage of vehicle；First computing module, is used for: scanning result feeds back to three-dimensional artificial processing module, carries out three-dimensional artificial calculating, obtains institute State the cargo area of carriage of vehicle；Second computing module, is used for: calculating quantity and the placement position of the aluminium ingot that the cargo area can load；First transportation module, is used for: operation drives a vehicle and clamps the aluminium ingot for being deposited in the specified location；Second transportation module, is used for: operation driving and by the aluminium ingot be successively placed in the cargo area described in put At position；Loop module is used for: the first transportation module, the second transportation module are repeated, until the cargo area piles with the aluminium ingot, Or the aluminium ingot quantity in the complete order information of cargo area heap.
- 4. aluminium ingot automatic clamping device of boarding according to claim 1, which is characterized in that the operational method of the driving Are as follows:It presets the aluminium ingot and puts sequence in each placement position；It runs above the driving to the designated position, it is automatic to transfer fixture and complete to being stacked at the specified location The clamping of the aluminium ingot；After the clamping for completing the aluminium ingot, the fixture is moved up, and runs what the driving should specifically be stacked to aluminium ingot described in this The top of the placement position；Automatically the fixture is transferred, the fixture unclamps and the aluminium ingot is placed at the placement position；The driving of reruning gradually clamp the aluminium ingot and by its by it is described put sequence and be successively placed in described put position Set place.
- The system 5. a kind of aluminium ingot automatic clamping is got on the bus, including memory, processor and storage are on a memory and can be in processor The computer program of upper operation, which is characterized in that the processor performs the steps of when executing described programS1, the order information for obtaining the aluminium ingot, the order information includes the quantity information of the aluminium ingot；S2, after driving into specified parking stall in carriage of vehicle, start laser scanning device and automatically begin to scan the carriage of vehicle；S3, scanning result feed back to three-dimensional artificial processing module, carry out three-dimensional artificial calculating, obtain the loading of the carriage of vehicle Region；S4, the quantity for calculating the aluminium ingot that the cargo area can load and placement position；S5, operation drive a vehicle and clamp the aluminium ingot for being deposited in specified location；S6, operation drive a vehicle and the aluminium ingot are successively placed at the placement position in the cargo area；S7, S5 to S6 is repeated, until the cargo area piles with the aluminium ingot or the complete order letter of the cargo area heap The aluminium ingot quantity in breath.
- 6. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor It is performed the steps of when rowS1, the order information for obtaining the aluminium ingot, the order information includes the quantity information of the aluminium ingot；S2, after driving into specified parking stall in carriage of vehicle, start laser scanning device and automatically begin to scan the carriage of vehicle；S3, scanning result feed back to three-dimensional artificial processing module, carry out three-dimensional artificial calculating, obtain the loading of the carriage of vehicle Region；S4, the quantity for calculating the aluminium ingot that the cargo area can load and placement position；S5, operation drive a vehicle and clamp the aluminium ingot for being deposited in specified location；S6, operation drive a vehicle and the aluminium ingot are successively placed at the placement position in the cargo area；S8, S5 is repeated To S6, until the cargo area piles with the aluminium in the aluminium ingot or the complete order information of the cargo area heap Number of spindles amount.
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| CN201910488059.2A CN110406881A (en) | 2019-06-05 | 2019-06-05 | A kind of aluminium ingot automatic clamping is got on the bus method, apparatus and system |
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| CN201910488059.2A CN110406881A (en) | 2019-06-05 | 2019-06-05 | A kind of aluminium ingot automatic clamping is got on the bus method, apparatus and system |
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| CN110406881A true CN110406881A (en) | 2019-11-05 |
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