CN112573222B - Flexible automatic loading system based on machine vision positioning - Google Patents
Flexible automatic loading system based on machine vision positioning Download PDFInfo
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- CN112573222B CN112573222B CN202011323402.7A CN202011323402A CN112573222B CN 112573222 B CN112573222 B CN 112573222B CN 202011323402 A CN202011323402 A CN 202011323402A CN 112573222 B CN112573222 B CN 112573222B
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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
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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Abstract
The application provides a flexible automatic loading system based on machine vision location. The system is used for stacking the goods to be boxed in the carriage of the material transporting vehicle, and comprises: the device comprises a material conveying unit, a positioning unit, a material handling unit and a control unit, wherein the control unit is respectively in communication connection with the material conveying unit, the positioning unit and the material handling unit; the material conveying unit conveys the goods to be boxed to a loading position according to the conveying instruction of the control unit; the positioning unit acquires images of a carriage of the material transporting vehicle based on machine vision according to an acquisition instruction of the control unit and sends the acquired images to the control unit; the control unit plans a loading path of the goods to be boxed according to the pre-stored size information of the goods to be boxed and the image acquired by the positioning unit; and the material handling unit is used for carrying the goods to be boxed on the loading position to a carriage of the material conveying vehicle for stacking according to the loading path.
Description
Technical Field
The application relates to the technical field of logistics equipment, in particular to a flexible automatic loading system based on machine vision positioning.
Background
Handling and transportation are necessary operations accompanying activities such as transportation and storage, are the most inconspicuous and very critical links, and take a long time for each handling and transportation activity, and therefore, are often key factors for determining logistics efficiency. At present, the labor intensity of the traditional loading and unloading operation is high, and the loading and unloading operation is concentrated on the operation modes of manual bulk transportation, forklift transportation and the like. Each loading and unloading activity takes a long time. These loading and unloading methods are inefficient, consume a lot of manpower and material resources, and result in higher loading and unloading cost in logistics cost.
With the development of automated production technology, more and more enterprises tend to adopt automated equipment to load materials on vehicles. However, no automatic loading system capable of realizing full automation exists in the current market, and under the contradiction between supply and demand, the research and development of the stable and reliable automatic loading system has very important significance for realizing the integrated automatic operation from production to loading of products.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
An object of the present application is to provide a flexible automatic loading system based on machine vision positioning to solve or alleviate the problems existing in the above prior art.
In order to achieve the above purpose, the present application provides the following technical solutions:
the application provides a flexible automatic loading system based on machine vision location for it treats vanning goods to put things in good order in the carriage of dumper, include: the device comprises a material conveying unit, a positioning unit, a material handling unit and a control unit, wherein the control unit is respectively in communication connection with the material conveying unit, the positioning unit and the material handling unit; the material conveying unit conveys the goods to be boxed to a loading position according to the conveying instruction of the control unit; the positioning unit acquires images of the carriage of the material transporting vehicle based on machine vision according to the acquisition instruction of the control unit and sends the acquired images to the control unit; the control unit plans a loading path of the goods to be boxed according to the pre-stored size information of the goods to be boxed and the image acquired by the positioning unit; and the material handling unit is used for carrying the goods to be boxed on the loading position to a carriage of the material transporting vehicle for stacking according to the loading path.
Optionally, in some embodiments of the present application, the material conveying unit comprises: the tray is used for placing the goods to be boxed, and the material conveying device is used for conveying the tray with the goods to be boxed to the loading position.
Optionally, in some embodiments of the present application, the positioning unit includes: the positioning ruler is placed at the corner of a carriage of the material transporting vehicle, and the image acquisition device is arranged above a stop position of the material transporting vehicle; and the image acquisition device acquires the images of the carriage when the positioning scale is placed at a first corner and a second corner, wherein the first corner and the second corner are opposite angles of the carriage.
Optionally, in some embodiments of the present application, the materials handling unit comprises: the material handling manipulator comprises a first guide rail, a second guide rail and a material handling manipulator; the first guide rail is a fixed guide rail, and the second guide rail is positioned on the first guide rail and can move on the first guide rail along a first direction; the material carrying manipulator is arranged on the second guide rail and can move on the second guide rail along the second direction, and the material carrying manipulator can move along a third direction relative to the second guide rail, wherein the first direction, the second direction and the third direction are perpendicular to each other.
Optionally, in some embodiments of the present application, the first guide rail comprises: the first rail and the second rail are oppositely arranged; correspondingly, two ends of the second guide rail are respectively connected with the first rail and the second rail through gear and rack transmission, so that the second guide rail moves on the first rail and the second rail along the first direction.
Optionally, in some embodiments of the present application, the second rail is provided with a rail hole, the rail hole penetrating through the second rail; correspondingly, the material moving manipulator is in transmission connection with the track hole through a gear and a rack, so that the material moving manipulator moves in the track hole along the second direction.
Optionally, in some embodiments of the present application, the material handling robot includes: the first truss is in transmission connection with the second guide rail through a gear and a rack; one end of the second truss is nested in the first truss, and the second truss can move in the first truss along the third direction; the fork is rotatably connected to the other end of the second truss and can convey the goods to be boxed on the loading position to a carriage of the material conveying vehicle along with the movement of the second guide rail, the first truss and the second truss for stacking.
Optionally, in some embodiments of the present application, the pallet fork has at least two forks, and a spacing between at least two of the forks is adjustable.
Optionally, in some embodiments of the present application, the control unit includes: a memory, a processor, and a programmable logic controller; the size information of the goods to be boxed is stored in the memory; the processor calls the size information of the goods to be boxed stored in the memory and plans the loading path according to the image sent by the positioning unit; the programmable logic controller is respectively in communication connection with the material conveying unit, the positioning unit and the material handling unit, sends the conveying instruction to the material conveying unit and sends the acquisition instruction to the positioning unit, and controls the material handling unit to carry the goods to be boxed on the loading position to a carriage of the material transporting vehicle for stacking according to the loading path transmitted by the processor.
Optionally, in some embodiments of the present application, the control unit further includes: and the human-computer interaction interface is used for inputting the size information of the goods to be boxed so as to store the information in the memory.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
in the flexible automatic loading system based on machine vision positioning, the control unit is respectively in communication connection with the material conveying unit, the positioning unit and the material handling unit, and the material conveying unit conveys the goods to be loaded to the loading position according to the conveying instruction of the control unit; the positioning unit acquires images of the carriage of the material transporting vehicle based on machine vision according to the acquisition instruction of the control unit and sends the acquired images to the control unit; the control unit plans the loading path of the goods to be boxed according to the prestored size information of the goods to be boxed and the images of the carriage of the material transporting vehicle collected by the positioning unit, and the materials on the loading position are transported to the carriage of the material transporting vehicle for stacking according to the loading path by the material transporting unit. Therefore, the planning of the loading path of the goods to be boxed is automatically finished through the communication among the control unit, the material conveying unit, the positioning unit and the material handling unit, the automatic carrying and stacking of the goods to be boxed from the goods shelf to the material conveying vehicle are realized, the loading time is greatly saved, the logistics efficiency is effectively improved, and the logistics cost is reduced; simultaneously, replace manpower transport, pile up through the machine, very big improvement the transportation of goods, pile up and put up efficiency, practiced thrift manufacturing cost, alleviateed the manpower burden.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
FIG. 1 is a schematic diagram of a flexible automated loading system based on machine vision positioning according to some embodiments of the present application;
FIG. 2 is a schematic structural view of a positioning scale provided according to some embodiments of the present application;
FIG. 3 is a logic diagram of a flexible automated loading system based on machine vision positioning provided in accordance with some embodiments of the present application;
fig. 4 is a schematic workflow diagram of a flexible automatic loading system based on machine vision positioning according to some embodiments of the present application.
Description of reference numerals:
101-a material handling unit; 111-a first track; 121-a second track; 131-a material handling manipulator; 102-a material conveying unit; 113-an image acquisition device; 123-positioning scale; 123A-a positioning body; 123B-positioning ears; 901-goods to be boxed; 902-material conveying vehicle.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a radio electrical connection, or a wireless communication signal connection, and a person of ordinary skill in the art may understand the specific meaning of the above terms according to specific situations.
FIG. 1 is a schematic diagram of a flexible automated loading system based on machine vision positioning according to some embodiments of the present application; as shown in fig. 1, the automatic loading system for stacking goods to be boxed into a carriage of a material transporting vehicle comprises: the device comprises a material conveying unit 102, a positioning unit, a material handling unit 101 and a control unit, wherein the control unit is respectively in communication connection with the material conveying unit 102, the positioning unit and the material handling unit 101; the material conveying unit 102 conveys the goods 901 to be boxed to a loading position according to the conveying instruction of the control unit; the positioning unit collects images of the carriage of the material transporting vehicle 902 based on machine vision according to the collection instruction of the control unit and sends the collected images to the control unit; the control unit plans the loading path of the goods 901 to be boxed according to the pre-stored size information of the goods 901 to be boxed and the image collected by the positioning unit; the material handling unit 101 handles the goods 901 to be boxed on the loading position to the carriage of the material transporting vehicle 902 according to the loading path for stacking. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the control unit is respectively in communication connection with the material conveying unit 102, the positioning unit and the material handling unit 101, and the material conveying unit 102 conveys the goods 901 to be boxed to the loading position according to the conveying instruction of the control unit; the positioning unit collects images of the carriage of the material transporting vehicle 902 based on machine vision according to the collection instruction of the control unit and sends the collected images to the control unit; the control unit plans a loading path of the goods 901 to be boxed according to the pre-stored size information of the goods 901 to be boxed and the images of the carriage of the material transporting vehicle 902 acquired by the positioning unit, and the material transporting unit 101 transports the goods 901 to be boxed on the loading position to the carriage of the material transporting vehicle 902 for stacking according to the loading path. Therefore, the planning of the loading path of the goods 901 to be boxed is automatically completed through the communication between the control unit and the material conveying unit 102, the communication between the control unit and the positioning unit and the communication between the control unit and the material handling unit 101, the automatic carrying and stacking of the goods 901 to be boxed from the goods shelf to the material transporting vehicle 902 are realized, the loading time is greatly saved, the logistics efficiency is effectively improved, and the logistics cost is reduced; simultaneously, replace manpower transport, pile up through the machine, very big improvement the transportation of goods, pile up and put up efficiency, practiced thrift manufacturing cost, alleviateed the manpower burden. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some alternative embodiments, the material transport unit 102 includes: the tray is used for placing goods 901 to be boxed, and the material conveying device is used for conveying the tray on which the goods 901 to be boxed are placed to a loading position. It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
In this application embodiment, material conveyor can be roller conveyor, and roller conveyor rotates, and the tray is located roller conveyor, places the goods 901 of waiting to pack on the tray, and through roller conveyor's rotation, will place the tray that waits to pack goods 901 and carry to the loading position. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the material conveying device receives a conveying instruction of the control unit, and conveys the tray on which the goods 901 to be boxed are placed to the loading position; whether the goods 901 to be boxed are to be boxed or not is detected by a detection device such as a sensor, for example, a pressure sensor detects the pressure change of the goods loading position, and when the pressure exceeds a set pressure, it indicates that the goods 901 to be boxed are present at the goods loading position. When detecting that the goods 901 to be boxed exist in the loading position, the control unit controls the material conveying device to stop moving, otherwise, the control unit sends a conveying instruction to control the material conveying device to move, and a tray on which the goods 901 to be boxed are placed is conveyed to the loading position to wait for carrying. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the positioning unit comprises: the positioning scale 123 and the image acquisition device 113, the positioning scale 123 is placed at the corner of the material transporting vehicle 902, and the image acquisition device 113 is arranged above the stop position of the material transporting vehicle 902; and the image collecting device 113 collects the images of the carriage when the positioning scale 123 is placed at the first corner and the second corner, wherein the first corner and the second corner are opposite angles of the carriage. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the positioning scale 123 may be placed at the first corner and the second corner of the carriage twice, and the image of the carriage when the positioning scale 123 is placed at different corners is collected by the image collecting device 113. Thereby, the spatial position of the car of the material transporting vehicle 902, the size of the car, and the car inclination angle can be calculated by acquiring the image of the positioning scale 123 on the image and the spatial position of the positioning scale 123. The spatial position of the positioning scale 123 and the spatial position of the vehicle compartment are both positions in the same coordinate system. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the same positioning scale 123 is placed at the diagonal of the carriage twice, and the diagonal measurement calculation is performed on the carriage, so that the measurement error is effectively reduced. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
FIG. 2 is a schematic structural view of a positioning scale provided according to some embodiments of the present application; as shown in fig. 2, the positioning scale 123 includes a positioning body 123A and a positioning ear 123B, the positioning ear 123B being perpendicular to the positioning body 123A; the positioning main body 123A is of a T-shaped structure, and two positioning lugs 123B are provided, namely a first positioning lug and a second positioning lug respectively, wherein the first positioning lug is arranged at one end of a transverse plate of the T-shaped structure, and the second positioning lug is arranged at one end of a vertical plate of the T-shaped structure; and the first positioning lug and the second positioning lug face to the same direction. When the positioning scale 123 is placed at the corner of the carriage, the positioning body 123A is placed on the bottom plate of the carriage, so that the first positioning lug and the second positioning lug respectively clamp the two vertical sides at the corner of the carriage. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the surfaces of the positioning main body 123A contacting the floor of the carriage and the surfaces of the first positioning lug and the second positioning lug contacting the two perpendicular sides of the corners of the carriage are flat surfaces, so that the position of the positioning scale 123 on the carriage does not shake or shift, and the accuracy of calculating the spatial position of the carriage of the material transporting vehicle 902, the size of the carriage, and the inclination angle of the carriage according to the positioning scale 123 is ensured. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some alternative embodiments, the materials handling unit 101 includes: the material handling manipulator 131 comprises a first guide rail, a second guide rail and a material handling manipulator, wherein the first guide rail is a fixed guide rail, and the second guide rail is positioned on the first guide rail and can move on the first guide rail along a first direction; the material handling manipulator 131 is provided on the second guide rail and is movable in the second direction on the second guide rail; the material handling manipulator 131 is capable of moving in a third direction with respect to the second rail, wherein the first direction, the second direction, and the third direction are perpendicular to each other. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first direction is defined as a front-back direction, the second direction is defined as a left-right direction, and the third direction is defined as an up-down direction. The first guide rail is laid along the front-back direction, and the second guide rail is arranged on the first guide rail and can move along the front-back direction; the second guide rail extends in the left-right direction, and the material handling robot 131 is provided on the second guide rail so as to be movable in the left-right direction; and the material handling robot 131 itself moves in the up-down direction with respect to the second rail. Thereby, the rectangular coordinate type structure of the first guide rail, the second guide rail and the material handling manipulator 131 greatly expands the working range of the material handling unit 101 to adapt to different carsizes of the goods 901 to be boxed and the material trucks 902. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In a specific example, the first guide rail includes: the first rail 111 and the second rail 121, the first rail 111 and the second rail 121 are oppositely arranged; correspondingly, two ends of the second rail 121 are respectively connected with the first rail 111 and the second rail 121 through a rack and pinion transmission, so that the second rail 121 moves on the first rail 111 and the second rail 121 along the first direction. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first rail 111 and the second rail 121 are arranged in parallel relatively along the front-back direction, and symmetrically distributed at two ends of the second rail 121, and the first rail 111 and the second rail 121 are supported and fixed by a plurality of mutually parallel upright posts respectively; the first rail 111 and the second rail 121 are both made of H-shaped steel, and a web plate of the H-shaped steel is provided with a rack. Correspondingly, gears driven by a motor are respectively arranged at two ends of the second rail 121, and form gear-rack transmission with the racks. Thereby, the second rail 121 is moved on the first rail 111 in the front-rear direction by the motor. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, a motor driving gear may be respectively disposed at two ends of the second rail 121, and further, the two motors operate synchronously. Alternatively, a motor may be disposed on the second rail 121 to drive the gears at the two ends of the second rail 121. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In another specific example, the second guide rail is provided with a rail hole, and the rail hole penetrates through the second guide rail; correspondingly, the material carrying manipulator 131 is in transmission connection with the track hole through a gear and a rack, so that the material carrying manipulator 131 moves in the track hole along the second direction. It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
In the embodiment of the present application, the rail hole penetrates the second rail 121 in the up-down direction (third direction), a rack is provided inside the rail hole in the left-right direction (second reverse direction), and the gear is driven by the motor on the material handling robot 131 to be engaged with the rack by the gear, whereby the material handling robot 131 moves in the left-right direction inside the rail hole. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the track hole may be a kidney-shaped hole or a rectangular hole. The second rail 121 may be a rectangular structure formed by sequentially connecting four sections end to end, and a space surrounded by the inner sides of the four sections is a rail hole. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment of the application, the image capturing device 113 may be disposed on the second track 121, specifically, the image capturing device is a camera, and the camera may be disposed at a position close to the end of the second track 121 on the track hole, so as to ensure that the carriage of the material transporting vehicle 902 can be captured, and meanwhile, interference of the material transporting manipulator 103 during movement in the track hole in the left-right direction is avoided. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In another specific example, the material handling robot 131 includes: the first truss, the second truss and the pallet fork are in transmission connection through a gear and a rack; one end of the second truss is nested in the first truss, and the second truss can move in the first truss along a third direction; the fork is connected to the other end of the second truss in a rotating manner, and can convey the goods to be boxed 901 on the loading position to the carriage of the material transporting vehicle 902 along with the movement of the second guide rail, the first truss and the second truss for stacking. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this application embodiment, first truss passes through rack and pinion transmission with the second guide rail and is connected, drives first truss and moves on the second guide rail by the motor, then drives second truss, fork and is moving along left and right directions (second direction) together. The second truss is nested in the first truss, and the motor drives the screw rod to drive, so that the second truss moves along the vertical direction (third direction). It should be understood that the above description is exemplary only and that the embodiments of the present application are not intended to be limiting.
In this application embodiment, through rotating the fork and connecting on the second truss, drive the fork through the motor and rotate around its position of being connected with the second truss rotation, realize treating the rotation adjustment of vaned goods 901. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, furthermore, the pallet fork is provided with at least two forks, and the distance between the at least two forks is adjustable. Therefore, the space between the forks is adjusted through the motor, the trays with different sizes can be adapted, and the requirements of goods 901 to be boxed in different sizes are met. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment, the motor that drives the second rail 121 to move along the front-back direction, the motor that drives the material moving manipulator 131 to move along the left-right direction, the motor that drives the second truss to move along the up-down direction, and the motor that drives the fork to rotate are all connected with the control unit and are controlled by the control unit. Thereby, the centralized control of the automatic loading system is realized. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the control unit comprises: a memory, a processor, and a programmable logic controller; the memory stores the size information of the goods 901 to be boxed; the processor calls the size information of the goods 901 to be loaded stored in the memory and plans the loading path according to the image sent by the positioning unit; the programmable logic controller is respectively in communication connection with the material conveying unit 102, the positioning unit and the material handling unit 101, sends a conveying instruction to the material conveying unit 102 and sends a collecting instruction to the positioning unit, and controls the material handling unit 101 to carry the goods to be boxed 901 on the loading position to the carriage of the material truck 902 for stacking according to the loading path transmitted by the processor. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the size information of the goods 901 to be boxed, which is stored in the memory, is input in advance, and the size information of the goods 901 to be boxed, which are of a plurality of different specifications, and the car parameters of different trucks 902 are stored. When loading the goods 901 to be boxed, an operator selects the size information of the corresponding goods 901 to be boxed, which is convenient for the processor to call. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the processor automatically calculates the spatial position of the carriage of the material transporting vehicle 902, the size of the carriage, and the inclination angle of the carriage according to the image acquired by the positioning unit, plans the loading path according to the corresponding size information of the goods 901 to be boxed, and determines the stacking rule of the goods 901 to be boxed in the carriage. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment, the processor may call a pre-written path planning program to plan the loading path of the to-be-boxed goods 901, and the processor may cooperate with a Graphics Processing Unit (GPU) to process the image acquired by the positioning Unit, so as to accelerate the Processing speed of the image. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the material moving manipulator is controlled to move to the loading position through the programmable logic controller, the goods 901 to be boxed are moved, and the goods 901 to be boxed are stacked and loaded according to the stacking rule according to the planned loading path. In the process, the carrying manipulator continuously and repeatedly carries the goods to be boxed 901 until the loading is finished. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment, before the material transporting manipulator transports the goods 901 to be boxed according to the planned path, the material transporting manipulator needs to move to the initial position according to the zero returning instruction of the programmable logic controller, so as to eliminate the accumulated error and ensure the accuracy of the goods 901 to be boxed during transportation and stacking. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the control unit further comprises: a human-machine interface for inputting the size information of the goods 901 to be boxed for storage in the storage. Therefore, visual operation is performed through the human-computer interaction interface, so that size information of the goods 901 to be boxed with different specifications can be conveniently recorded and stored in the memory. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
FIG. 3 is a logic schematic diagram of a flexible automated loading system based on machine vision positioning provided in accordance with some embodiments of the present application; FIG. 4 is a schematic workflow diagram of a flexible automated loading system based on machine vision positioning provided in accordance with some embodiments of the present application; as shown in fig. 3 and 4, the upper computer performs data processing on image processing and loading path planning, data communication is performed between the programmable logic controller and the upper computer, when the automatic loading system is started, transmission Control Protocol (TCP) connection is automatically established between the programmable logic controller and the upper computer, and after the connection is established, the programmable logic controller sends a PLC state to the upper computer; after receiving the PLC state sent by the programmable logic controller, the upper computer detects whether a material moving manipulator in the system returns to zero, and if the material moving manipulator does not return to zero, the upper computer sends a zero returning instruction to the programmable logic controller; after receiving the zero returning instruction, the programmable logic controller controls the material moving manipulator to execute the zero returning action; after the zero returning action of the material handling manipulator is finished, the programmable logic controller feeds back to an upper computer, and after the upper computer receives the feedback, the upper computer determines the offset of the material handling manipulator according to the pre-stored vehicle type of the material handling vehicle 902 and the size of the pre-stored vehicle type and sends a vehicle measurement instruction to the programmable logic controller; the programmable logic controller controls the material handling device to be positioned at the vehicle measuring position of the material transporting vehicle 902 and feeds back a positioning completion signal to the upper computer according to the vehicle measuring instruction; after the upper computer receives the positioning completion signal, the upper computer controls the camera to acquire images of the carriage of the material transporting vehicle 902 and plans a loading path; after receiving the loading path, the programmable logic controller controls the material moving manipulator 131 to move the goods 901 to be boxed on the loading position, and feeds back a carrying completion signal to the upper computer. The upper computer calculates coordinates and deflection angles of the goods 901 to be boxed when being stacked in the carriage according to images acquired by the camera, generates goods stacking rules and sends the goods stacking rules to the programmable logic controller, the programmable logic controller executes goods stacking actions according to the stacking rules, and the goods 901 to be boxed are stacked at the designated position of the carriage according to the stacking rules; after the boxed goods 901 are stacked, the material moving manipulator 131 returns to the safe position, and a goods stacking completion signal is fed back to the upper computer by the programmable logic controller. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. The utility model provides a flexible automatic loading system based on machine vision location for pile up the vanning goods of treating in to the carriage of dumper, its characterized in that includes: the device comprises a material conveying unit, a positioning unit, a material handling unit and a control unit, wherein the control unit is respectively in communication connection with the material conveying unit, the positioning unit and the material handling unit;
the material conveying unit conveys the goods to be boxed to a loading position according to the conveying instruction of the control unit;
the positioning unit acquires images of the carriage of the material transporting vehicle based on machine vision according to the acquisition instruction of the control unit and sends the acquired images to the control unit;
the positioning unit includes: a positioning scale and an image acquisition device;
the image acquisition device is a camera;
the positioning ruler is used for being placed at a first corner and a second corner of a carriage of the material transporting vehicle in two times, and the image acquisition device is arranged above a stop position of the material transporting vehicle; the image acquisition device is used for respectively acquiring the images of the carriage when the positioning scale is placed at a first corner and a second corner, wherein the first corner and the second corner are opposite angles of the carriage;
the positioning scale comprises a positioning main body and a positioning ear, and the positioning ear is perpendicular to the positioning main body; the positioning main body is of a T-shaped structure, and the number of the positioning lugs is two, namely a first positioning lug and a second positioning lug, wherein the first positioning lug is arranged at one end of a transverse plate of the T-shaped structure, and the second positioning lug is arranged at one end of a vertical plate of the T-shaped structure; the first positioning lug and the second positioning lug face to the same direction;
the control unit includes: a memory, a processor, and a programmable logic controller; the memory stores the size information of the goods to be boxed; the processor calls the size information of the goods to be boxed stored in the memory, automatically completes the calculation of the space position of the carriage of the material transporting vehicle, the size of the carriage and the inclination deflection angle of the carriage according to the image acquired by the positioning Unit, plans a loading path according to the size information of the corresponding goods to be boxed, and determines the stacking rule of the goods to be boxed in the carriage, wherein the processor is used for Processing the image acquired by the positioning Unit in cooperation with a Graphics Processing Unit (GPU); the programmable logic controller is respectively in communication connection with the material conveying unit, the positioning unit and the material handling unit, sends the conveying instruction to the material conveying unit and sends the acquisition instruction to the positioning unit, and controls the material handling unit to carry the goods to be boxed on the loading position to a carriage of the material truck for stacking according to the loading path transmitted by the processor;
the material carrying unit carries the goods to be boxed on the loading position to a carriage of the material transporting vehicle for stacking according to the loading path;
the material handling unit comprises: a material carrying manipulator;
and before the goods to be boxed are transported according to the loading path, the material transporting manipulator moves to an initial position according to a zero returning instruction of the programmable logic controller.
2. The automatic loading system of claim 1, wherein the material transport unit comprises: a tray and a material conveying device, wherein,
the tray is used for placing the goods to be boxed, and the material conveying device is used for conveying the tray with the goods to be boxed to the loading position.
3. The automated loading system of claim 1, wherein the materials handling unit further comprises: a first guide rail and a second guide rail;
the first guide rail is a fixed guide rail, and the second guide rail is positioned on the first guide rail and can move on the first guide rail along a first direction; the material carrying manipulator is arranged on the second guide rail and can move on the second guide rail along the second direction, and the material carrying manipulator can move along a third direction relative to the second guide rail, wherein the first direction, the second direction and the third direction are perpendicular to each other.
4. The automatic loading system of claim 3, wherein the first rail comprises: the first rail and the second rail are oppositely arranged;
in a corresponding manner, the first and second optical fibers are,
two ends of the second guide rail are respectively in transmission connection with the first rail and the second rail through a gear and a rack, so that the second guide rail moves on the first rail and the second rail along the first direction.
5. The automatic loading system of claim 3, wherein the second rail is provided with a rail hole that extends through the second rail;
in a corresponding manner, the first and second optical fibers are,
the material carrying manipulator is in transmission connection with the track hole through a gear and a rack, so that the material carrying manipulator moves in the track hole along the second direction.
6. The automatic loading system of claim 3, wherein the material handling robot comprises: a first truss, a second truss and a pallet fork,
the first truss is in transmission connection with the second guide rail through a gear and a rack;
one end of the second truss is nested in the first truss, and the second truss can move in the first truss along the third direction;
the fork is rotatably connected to the other end of the second truss and can convey the goods to be boxed on the loading position to a carriage of the material conveying vehicle along with the movement of the second guide rail, the first truss and the second truss for stacking.
7. The automatic loading system of claim 6, wherein said fork has at least two forks, and the spacing between at least two of said forks is adjustable.
8. The automatic loading system of claim 1, wherein the control unit further comprises: and the human-computer interaction interface is used for inputting the size information of the goods to be boxed so as to store the information in the memory.
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| CN202011323402.7A CN112573222B (en) | 2020-11-23 | 2020-11-23 | Flexible automatic loading system based on machine vision positioning |
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| CN202011323402.7A CN112573222B (en) | 2020-11-23 | 2020-11-23 | Flexible automatic loading system based on machine vision positioning |
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| CN113651095A (en) * | 2021-09-03 | 2021-11-16 | 四川长虹智能科技有限公司 | Loading system |
| CN113830584B (en) * | 2021-10-15 | 2023-06-23 | 朱建民 | Bagged goods loading and stacking device |
| CN114684626B (en) * | 2022-04-25 | 2024-04-09 | 阿帕数字科技有限公司 | Three-dimensional boxing method and device for regular objects and electronic equipment |
| EP4286305A1 (en) * | 2022-06-03 | 2023-12-06 | Knauf Gips KG | Apparatus for automated loading of building materials arranged on pallets and method for automated loading of building materials arranged on pallets |
| CN115092708A (en) * | 2022-07-14 | 2022-09-23 | 中国农业大学 | Intelligent loading system and method |
| CN115344053B (en) * | 2022-10-17 | 2023-04-07 | 国网浙江宁波市鄞州区供电有限公司 | AGV unmanned automatic clamping type forklift control method, device, equipment and medium |
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| CN106276325B (en) * | 2016-08-31 | 2018-12-21 | 长沙长泰机器人有限公司 | Van automatic loading system |
| JP6729217B2 (en) * | 2016-09-07 | 2020-07-22 | 株式会社ダイフク | Equipment for loading goods |
| CN106429483A (en) * | 2016-12-09 | 2017-02-22 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic stacking and truck-loading system and truck-loading method thereof |
| JP2019010691A (en) * | 2017-06-29 | 2019-01-24 | 日本電産サンキョー株式会社 | Hand of industrial robot and industrial robot |
| CN110342241A (en) * | 2018-04-02 | 2019-10-18 | 上海微电子装备（集团）股份有限公司 | A kind of automatical feeding system |
| CN209991953U (en) * | 2019-07-30 | 2020-01-24 | 马鞍山钢铁股份有限公司 | Wheel size three-coordinate automatic measurement positioning device |
| CN210973091U (en) * | 2019-11-11 | 2020-07-10 | 武汉人天机器人工程有限公司 | Automatic loading system of truss robot |
| CN111220077B (en) * | 2020-01-20 | 2021-08-24 | 山东大学 | Visual detection device and method for installation size of threaded hole of radiator |
| CN111017585A (en) * | 2020-02-13 | 2020-04-17 | 青岛新松机器人自动化有限公司 | Loading system |
| CN111646241A (en) * | 2020-06-04 | 2020-09-11 | 龙合智能装备制造有限公司 | Stacking cargo loading system and control method thereof |
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