CN110986797A - Vehicle compartment size and position measuring device and method of full-automatic bagged vehicle stacking machine - Google Patents
Vehicle compartment size and position measuring device and method of full-automatic bagged vehicle stacking machine Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The invention discloses a vehicle compartment size and position measuring device and method of a full-automatic bag stacking and loading machine, wherein the measuring device mainly comprises a mechanical supporting mechanism and an image system, wherein the mechanical supporting mechanism comprises a measuring support, a laser fixing frame and a camera fixing frame; the image system comprises a first camera, a first laser, a second camera, a second laser, a third camera, a third laser, a fourth camera and a fourth laser; when the vehicle enters the loading area, the external control system sends an instruction to start the first camera, the second camera, the third camera and the fourth camera to collect the images of the vehicle compartment; after the image acquisition is finished, the external control system carries out splicing processing on the acquired images, and the size and the position information of the carriage of the vehicle can be measured. The invention is an important component of the full-automatic bag stacking and loading process and equipment, solves the problem that the size and the position information of a vehicle compartment cannot be measured quickly and accurately, and further achieves the effect of quick and accurate measurement.
Description
Technical Field
The invention belongs to the technical field of vision measurement, and particularly relates to a device and a method for measuring the size and the position of a vehicle compartment of a full-automatic bag stacking and loading vehicle machine.
Background
The full-automatic bagged material stacking machine is an automatic electromechanical device for transporting bagged materials and stacking bags by vehicles, and comprises a transporting device, a walking device, a bag stacking device, an image system and a control system. The conveying device is used for conveying bagged materials, the walking device is used for driving the whole machine to move, the bag stacking device stacks the material bags in a carriage in order, the image system is used for measuring the size and the position of the carriage of the vehicle, and the control system is used for controlling the whole machine to start and stop and various actions and safety protection.
At present, most bagged materials still adopt manual work or semi-automatization mode loading when leaving the factory, and this kind of loading mode has workman working strength big, and the loading is efficient low, and workman's operational environment is abominable and workman safety problem scheduling defect.
With the improvement of science and technology and the improvement of self-awareness of production enterprises, the use frequency of the stacking bag car machine in the market is higher and higher, but compared with the number of the industrial processing enterprises in China at present, the stacking bag car machine has poor utilization rate, and indicates that the full-automatic stacking bag car machine has a great development prospect.
The device that obtains vehicle size information through laser scanning a bit in the existing market, but the device occupation space is big, has great error moreover, also has the device that obtains vehicle carriage size information through the camera a bit, and the structure is too complicated, and the space that requires is big, to those vehicles that the size is longer, often has the restriction and can not survey and get size information, and the camera of device is small in quantity, and the vehicle carriage size and the positional information that record have the error, can lead to the sign indicating number bag to appear the unexpected condition when bagging-off the vehicle.
In patent CN 106225675a, although the device of the present invention can measure the size and position information of a vehicle compartment, the measuring device is dynamically movable, the measured size and position information of the vehicle compartment are not accurate, the device has a large requirement on space, and cannot be used in a smaller space situation, and multiple motors are required to drive the measuring device, so that the mechanical structure is too complex, and if the motors break down, the device cannot continue to measure, and the state is unstable.
In view of the above background, there is a need for a device for measuring the size and position of a vehicle compartment of a fully automatic bag stacking and loading machine, which has a simple structure, can quickly and accurately measure the size and position of the vehicle compartment, and has good measurement stability.
Disclosure of Invention
In order to solve the technical problems, the invention provides a measuring device and a measuring method which can be matched with a full-automatic bag stacking machine to automatically stack bags and quickly and accurately measure the size and the position of a carriage of a vehicle.
The technical scheme adopted by the device of the invention is as follows: the utility model provides a vehicle carriage size and position measurement device of full-automatic sign indicating number bag car machine, its characterized in that: the device consists of a mechanical supporting mechanism, an image measuring system and an external control system;
the mechanical support mechanism comprises a measurement support frame, a first camera fixing frame, a first laser fixing frame, a second camera fixing frame, a second laser fixing frame, a third camera fixing frame, a third laser fixing frame, a fourth camera fixing frame and a fourth laser fixing frame;
the image measuring system comprises a first camera, a first laser, a second camera, a second laser, a third camera, a third laser, a fourth camera and a fourth laser which are perpendicular to a carriage;
the four cameras are respectively arranged on four camera fixing frames, the four lasers are respectively arranged on four laser fixing frames, the four camera fixing frames and the four laser fixing frames are symmetrically and uniformly distributed and fixed together through a measuring support frame, and the measuring support frame is arranged in the middle of a ceiling of the loading area;
and the external control system is respectively connected and communicated with the first camera, the first laser, the second camera, the second laser, the third camera, the third laser, the fourth camera and the fourth laser and is used for controlling the first camera, the first laser, the second camera, the second laser, the third camera, the third laser, the fourth camera and the fourth laser to work.
The method adopts the technical scheme that: a method for measuring the size and the position of a vehicle compartment of a full-automatic bag stacking and loading machine is characterized by comprising the following steps:
step 1: when the vehicle enters the loading area, the external control system sends an instruction to start the first camera, the second camera, the third camera and the fourth camera to acquire images; starting a first laser, a second laser, a third laser and a fourth laser to measure the height of the carriage wallboard relative to the carriage bottom plate;
step 2: after the image is collected, the external control system automatically carries out image splicing processing, four mark points and four characteristic points on the image after splicing is completed are selected, and the size and the position information of the vehicle compartment can be measured, wherein the four mark points are corner points A, B, C, D at four positions of the vehicle compartment, and the four characteristic points are projection points of a first laser, a second laser, a third laser and a fourth laser on the wall plates of the front, the rear, the left and the right compartments.
The invention provides a vehicle compartment size and position measuring device of a full-automatic bag stacking and loading machine, which is an important component of equipment and a process of the full-automatic bag stacking and loading machine.
Drawings
FIG. 1 is a schematic structural diagram of an apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an apparatus measurement according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a model for measuring height and dimension information of a vehicle compartment according to an embodiment of the present invention;
fig. 4 is a schematic diagram of measuring the length, width and position of the vehicle compartment according to the embodiment of the invention.
Detailed Description
In order to facilitate the understanding and implementation of the present invention for those of ordinary skill in the art, the present invention is further described in detail with reference to the accompanying drawings and examples, it is to be understood that the embodiments described herein are merely illustrative and explanatory of the present invention and are not restrictive thereof.
Referring to fig. 1, the device for measuring the size and position of the carriage of the full-automatic bag stacking machine provided by the invention comprises a mechanical support mechanism, an image measuring system and an external control system;
the mechanical support mechanism comprises a measurement support frame 1, a first camera fixing frame 2, a first laser fixing frame 5, a second camera fixing frame 7, a second laser fixing frame 9, a third camera fixing frame 13, a third laser fixing frame 12, a fourth camera fixing frame 14 and a fourth laser fixing frame 15;
the image measuring system comprises a first camera 3, a first laser 4, a second camera 6, a second laser 8, a third camera 10, a third laser 11, a fourth camera 16 and a fourth laser 17 which are vertical to the compartment;
the four cameras are respectively arranged on the four camera fixing frames, the four lasers are respectively arranged on the four laser fixing frames, the four camera fixing frames and the four laser fixing frames are symmetrically and uniformly distributed and fixed together through the measuring support frame 1, and the measuring support frame 1 is arranged in the middle of a ceiling of the loading area;
the external control system is respectively connected with and communicated with the first camera 3, the first laser 4, the second camera 6, the second laser 8, the third camera 10, the third laser 11, the fourth camera 16 and the fourth laser 17, and is used for controlling the first camera 3, the first laser 4, the second camera 6, the second laser 8, the third camera 10, the third laser 11, the fourth camera 16 and the fourth laser 17 to work.
The first camera 3, the second camera 6, the third camera 10 and the fourth camera 16 of this embodiment are all vertically arranged downwards, the first laser 4 and the first camera 3 form a certain included angle, the second laser 8 and the second camera 6 form a certain included angle, the third laser 11 and the third camera 10 form a certain included angle, and the fourth laser 17 and the fourth camera 15 form a certain included angle.
The external control system of the present embodiment is composed of a PC and image measurement software.
Referring to fig. 3 and 4, the method for measuring the size and position of the carriage of the fully-automatic bag stacking and loading machine provided by the invention comprises the following steps:
step 1: when the vehicle 18 enters the loading area, the external control system sends an instruction to start the first camera 3, the second camera 6, the third camera 10 and the fourth camera 16 to acquire images; starting a first laser 4, a second laser 8, a third laser 11 and a fourth laser 17 to measure the height of the carriage wallboard relative to the carriage bottom plate;
in this embodiment, a laser triangulation method is applied to measure height information of a wall panel relative to a floor, laser light emitted by the first laser 4, the second laser 8, the third laser 11, and the fourth laser 17 irradiates an α -degree angle with a horizontal direction on an upper surface of a car wall panel and a car floor, a distance of a projection of the laser light on the upper surface of the car wall panel and the car floor in the horizontal direction is n, a deviation of the distance n in imaging of the first camera 3, the second camera 6, the third camera 10, and the fourth camera 16 is n1, a distance of an imaging lens from the first camera 3, the second camera 6, the third camera 10, and the fourth camera 16 is m1, a distance of the imaging lens from the upper surface of the car wall panel is m, and according to a similar proportional relationship of triangles:
in the formula
The vehicle compartment wall height h can thus be calculated:
the heights of the carriage wallboards measured by the first laser 4 and the first camera 3, the second laser 8 and the second camera 6, the third laser 11 and the third camera 10, and the fourth laser 17 and the fourth camera 15 are respectively h1, h2, h3 and h4, and then the height of the carriage wallboard is calculated and averaged:
step 2: after the image is collected, the external control system automatically performs image splicing processing, four mark points and four feature points on the spliced image are selected, and the size and the position information of the carriage of the vehicle can be measured, wherein the four mark points are the corner points A, B, C, D at four positions of the carriage of the vehicle 18, and the four feature points are projection points of the first laser 4, the second laser 8, the third laser 11 and the fourth laser 17 on the wall plates of the carriage at the front, the rear, the left and the right.
In this embodiment, the vehicle compartment size is the length and width information of the compartment, the length information is the compartment length on the upper and lower sides of the X axis, and the width information is the compartment width on the left and right sides of the Y axis.
In the present embodiment, the vehicle compartment position is defined as the horizontal offset and the vertical offset of the vehicle compartment;
the horizontal deviation of the carriage position is the difference between the distances from the carriage wall plates on the upper side and the lower side of the X axis to the X axis, and the deviation on the left side of the origin point is defined as the left horizontal deviation delta WLeft side ofDefining the offset to the right of the origin as the right horizontal offset Δ WRight side：
ΔWLeft side of＝W1-|W2|；
ΔWRight side＝W4-|W3|；
The vertical offset of the car position is defined as the distance Δ Z1, Δ Z2 from the car wall board on the left and right sides of the Y axis to the origin, and is calculated as the average of the distances from the corner point A, B to the Y axis and the average of the distances from the corner point C, D to the Y axis:
the geometric centers of the first camera 3, the second camera 6, the third camera 10 and the fourth camera 16 are an origin O, the horizontal direction of the origin is an X axis, and the vertical direction of the origin is a Y axis; A. b, C, D are four corner points of the vehicle compartment, and W1, W2, W3 and W4 are distances from a corner point A, B, C, D to the X axis respectively; xa、Xb、Xc、XdRespectively the distance of the corner point A, B, C, D from the Y-axis.
It should be understood that parts of the specification not set forth in detail are prior art; the above description of the preferred embodiments is intended to be illustrative, and not to be construed as limiting the scope of the invention, which is defined by the appended claims, and all changes and modifications that fall within the metes and bounds of the claims, or equivalences of such metes and bounds are therefore intended to be embraced by the appended claims.
Claims (6)
1. The utility model provides a vehicle carriage size and position measurement device of full-automatic sign indicating number bag car machine, its characterized in that: the device consists of a mechanical supporting mechanism, an image measuring system and an external control system;
the mechanical support mechanism comprises a measurement support frame (1), a first camera fixing frame (2), a first laser fixing frame (5), a second camera fixing frame (7), a second laser fixing frame (9), a third camera fixing frame (13), a third laser fixing frame (12), a fourth camera fixing frame (14) and a fourth laser fixing frame (15);
the image measuring system comprises a first camera (3), a first laser (4), a second camera (6), a second laser (8), a third camera (10), a third laser (11), a fourth camera (16) and a fourth laser (17), wherein the first camera, the first laser (4), the second camera (6), the second laser, the third camera (10), the third laser, the fourth camera and the fourth laser are perpendicular to a carriage;
the four cameras are respectively arranged on four camera fixing frames, the four lasers are respectively arranged on four laser fixing frames, the four camera fixing frames and the four laser fixing frames are symmetrically and uniformly distributed and fixed together through a measuring support frame (1), and the measuring support frame (1) is arranged in the middle of a ceiling of a loading area;
the external control system is respectively connected with the first camera (3), the first laser (4), the second camera (6), the second laser (8), the third camera (10), the third laser (11), the fourth camera (16) and the fourth laser (17) for communication, and is used for controlling the first camera (3), the first laser (4), the second camera (6), the second laser (8), the third camera (10), the third laser (11), the fourth camera (16) and the fourth laser (17) to work.
2. The vehicle compartment size and position measuring device of the full-automatic bag stacking and loading machine according to claim 1, wherein: first camera (3), second camera (6), third camera (10), fourth camera (16) all set up perpendicularly downwards, first laser instrument (4) become certain contained angle with first camera (3), and second laser instrument (8) become certain contained angle with second camera (6), and third laser instrument (11) become certain contained angle with third camera (10), and fourth laser instrument (17) become certain contained angle with fourth camera (15).
3. A method for measuring the size and the position of a vehicle compartment of a full-automatic bag stacking and loading machine is characterized by comprising the following steps:
step 1: when a vehicle (18) enters a loading area, an external control system sends an instruction to start the first camera (3), the second camera (6), the third camera (10) and the fourth camera (16) to acquire images; starting a first laser (4), a second laser (8), a third laser (11) and a fourth laser (17) to measure the height of the carriage wallboard relative to the carriage bottom plate;
step 2: after the image acquisition is ended, the image mosaic is automatically carried out by an external control system, four mark points and four characteristic points on the image after the mosaic is completed are selected, the size and the position information of the vehicle compartment can be measured, the four mark points are corner points A, B, C, D at four positions of the vehicle (18) compartment, and the four characteristic points are projection points on the front, rear, left and right compartment wallboards of a first laser (4), a second laser (8), a third laser (11) and a fourth laser (17).
4. The method for measuring the size and position of the vehicle compartment of the fully automatic bag stacking machine according to claim 3, wherein in step 1, the height information of the wall board relative to the floor board is measured by using a laser triangulation method, the laser emitted by the first laser (4), the second laser (8), the third laser (11) and the fourth laser (17) irradiates the upper surface of the compartment wall board and the floor board at an angle of α degrees with the horizontal direction, the distance of the laser projection on the upper surface of the compartment wall board and the floor board in the horizontal direction is n, the offset of the distance n in the imaging of the first camera (3), the second camera (6), the third camera (10) and the fourth camera (16) is n1, the distance of the imaging lens from the first camera (3), the second camera (6), the third camera (10) and the fourth camera (16) is m1, the distance of the imaging lens from the upper surface of the compartment wall board is m, and the method is obtained according to the similar proportion relationship of the triangle:
in the formula
The vehicle compartment wall height h can thus be calculated:
the heights of the compartment wall boards measured by the first laser (4) and the first camera (3), the second laser (8) and the second camera (6), the third laser (11) and the third camera (10), and the fourth laser (17) and the fourth camera (15) are respectively h1, h2, h3 and h4, and then the height of the compartment wall board is calculated to obtain an average value:
5. the method for measuring the size and the position of the vehicle compartment of the full-automatic bag stacking and loading machine according to claim 3, wherein the method comprises the following steps: in step 2, the size of the vehicle compartment is the length and width information of the compartment, the length information is the length of the compartment on the upper side and the lower side of the X axis, and the width information is the width of the compartment on the left side and the right side of the Y axis.
6. The method for measuring the size and the position of the vehicle compartment of the full-automatic bag stacking and loading machine according to claim 3, wherein the method comprises the following steps: in step 2, the position of the vehicle compartment is defined as the horizontal offset and the vertical offset of the vehicle compartment;
the horizontal deviation of the carriage position is the difference between the distances from the carriage wallboards on the upper side and the lower side of the X axis to the X axis, and the deviation on the left side of the origin point is defined as the left horizontal deviation delta WLeft side ofDefining the offset to the right of the origin as the right horizontal offset Δ WRight side：
ΔWLeft side of＝W1-|W2|；
ΔWRight side＝W4-|W3|；
The car position vertical offset is defined as distances Δ Z1, Δ Z2 from car wallboards on the left and right sides of the Y axis to the origin, and is calculated as an average of the distances from the corner point A, B to the Y axis and an average of the distances from the corner point C, D to the Y axis:
the geometric centers of the first camera (3), the second camera (6), the third camera (10) and the fourth camera (16) are an origin O, the horizontal direction of the origin is an X axis, and the vertical direction of the origin is a Y axis; A. b, C, D are four corner points of the vehicle compartment, and W1, W2, W3 and W4 are distances from a corner point A, B, C, D to the X axis respectively; xa、Xb、Xc、XdRespectively the distance of the corner point A, B, C, D from the Y-axis.
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| CN113310430A (en) * | 2021-04-12 | 2021-08-27 | 中国地质大学（武汉） | Four-line four-eye three-dimensional laser scanner and scanning method |
| CN113636298A (en) * | 2021-07-30 | 2021-11-12 | 杭州电子科技大学 | System and method for detecting stacking state of bagged material car loader |
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Application publication date: 20200410 Assignee: HUANGSHI ZHONGCHENG AUTOMATION TECHNOLOGY Co.,Ltd. Assignor: HUBEI University OF TECHNOLOGY Contract record no.: X2023980053045 Denomination of invention: Vehicle compartment size and position measurement device and method for fully automatic bag loading machine Granted publication date: 20211022 License type: Common License Record date: 20231220 |
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