CN114873526B - Automatic hanging unloading device and binocular recognition unloading method thereof - Google Patents
Automatic hanging unloading device and binocular recognition unloading method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
- B66F9/183—Coplanar side clamps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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Abstract
The invention belongs to the technical field of loading and unloading migration, and particularly relates to an automatic hanging unloading device and a binocular recognition unloading method thereof. The self-adaptive gravity sensing device comprises a top plate arranged on a fork of a forklift body, two groups of self-adaptive gravity sensing devices which are symmetrical front and back are arranged at the middle bottom of the top plate, each self-adaptive gravity sensing device comprises a top plate connecting rod fixed at the bottom of the top plate, the lower end of each top plate connecting rod is hinged and connected with one end of each of two transmission rods, the other end of each transmission rod is hinged and connected with a peripheral side connecting rod, the lower part of each top plate connecting rod, the transmission rods and one part of the inner side end of each peripheral side connecting rod are all arranged in a shell, the shell is of an inverted Y-shaped structure, a top outlet is arranged right above the shell, side outlets are symmetrically arranged at two sides of the shell, and the upper part of each top plate connecting rod is arranged in the top outlet in a penetrating manner, the end parts of the connecting rods on the two sides of the periphery penetrate out of the side outlets and are fixed with the upper parts of the baffle plates on the periphery, the baffle plates on the periphery are vertically arranged, the baffle plates on the periphery move in the horizontal direction under the pulling of the connecting rods on the periphery, and the bottom parts of the baffle plates on the periphery are provided with bearing plates.
Description
Technical Field
The invention belongs to the technical field of loading and unloading migration, and particularly relates to an automatic hanging unloading device and a binocular recognition unloading method thereof.
Background
At present, a plurality of hitching devices are used for realizing loading, unloading and transferring tasks, and the loading and unloading of bagged goods under a packaging pocket or an unmanned forklift cannot be realized in the applied actual working condition. For some small and medium logistics companies, complete automatic equipment transportation can be realized without large investment, and the companies can still complete loading, unloading and transferring tasks by a single forklift. The following problems may exist if this is done for a long time: firstly, the loading and unloading personnel are high in age, short in sustainable years and free of subsequent force, and the unloading force is reduced sharply after years of estimation; secondly, the loading and unloading cost is high, the efficiency is low, the number of loaded vehicles is in direct proportion to the loading time, the work development requirement cannot be met, for the mode, the loading and unloading cost is high, the efficiency is low, and the loading and unloading force is reduced sharply after a few years.
Disclosure of Invention
The invention provides an automatic hanging unloading device and a binocular recognition unloading method thereof, aiming at solving the problems that the placement space and foreign matters still need to be observed manually in the traditional loading and unloading process, and replacing manual operation with full-intelligent loading and unloading to realize unmanned loading and unloading of loading and unloading equipment in a loading task.
The invention adopts the following technical scheme: an automatic hanging and unloading device comprises a gravity sensing type gripping device, wherein the gravity sensing type gripping device comprises a top plate arranged on a fork of a forklift body, fork sliding grooves are formed in the bottoms of two sides of the top plate, two sets of front and back symmetrical self-adaptive gravity sensing devices are arranged at the bottom of the middle of the top plate, each self-adaptive gravity sensing device comprises a top plate connecting rod fixed at the bottom of the top plate, the lower end of each top plate connecting rod is hinged with one end of each of two transmission rods, the other end of each transmission rod is hinged with a peripheral side connecting rod, the lower part of each top plate connecting rod, the transmission rods and part of the inner side end of the peripheral side connecting rod are arranged in a shell, the shell is of an inverted Y-shaped structure, a top outlet is formed right above the shell, side outlets are symmetrically formed in two sides of the shell, the upper parts of the top plate connecting rods are arranged in the top outlets in a penetrating manner, the end parts of the peripheral side connecting rods on two sides penetrate out of the side outlets and are fixed with the upper parts of peripheral side baffles, the side baffle plates are vertically arranged, the side baffle plates move in the horizontal direction under the pulling of the side connecting rods, and the bottom of the side baffle plates is provided with a bearing plate.
Furthermore, the bottom of the top plate is located between the two sets of self-adaptive gravity sensing devices and provided with a nitrogen spring, the lower end of the nitrogen spring is connected with a connecting rod of the self-adaptive gravity sensing devices, the connecting rod of the self-adaptive gravity sensing devices is horizontally arranged, and the front end and the rear end of the connecting rod of the self-adaptive gravity sensing devices are respectively fixed with the shells on the two sets of self-adaptive gravity sensing devices.
Further, an outer side cargo baffle and an inner side cargo baffle are arranged between the side baffles on the two sides, an inner groove is formed in one side of the outer side cargo baffle, one side, connected with the outer side cargo baffle, of the inner side cargo baffle is arranged in the inner groove and can slide along the inner groove, cargo baffle pulleys are arranged on the outer sides of the outer side cargo baffle and the inner side cargo baffle, two groups of upper and lower baffle grooves in the circumferential direction are arranged in the inner sides of the side baffles, and the cargo baffle pulleys are arranged in the baffle grooves in the circumferential side and slide along the baffle grooves in the circumferential side.
Furthermore, be connected with scissors self-adaptation resetting means between the week side baffle of both sides, scissors self-adaptation resetting means be the scissors structure, be provided with two sets of scissors reset spring on the scissors self-adaptation resetting means, scissors self-adaptation resetting means's tip is two forks, one of them fork is connected with week side baffle is articulated, another fork is provided with scissors pulley that resets, scissors pulley that resets along setting up the scissors on week side baffle and reset the groove slip.
Furthermore, the single-drive hydraulic scissor push rod device is further included, and comprises a scissor base installed on the forklift body, a scissor mechanism is installed on the scissor base, the front end of the scissor mechanism is connected with a tail scissor frame, four push rods are arranged on the front side of the tail scissor frame, a groove is formed in the front end of each push rod, a magnet used for adsorbing an outer side cargo blocking plate or an inner side cargo blocking plate is arranged in the groove, the front end of each push rod is in contact connection with the outer side cargo blocking plate or the inner side cargo blocking plate, the outer side cargo blocking plate or the inner side cargo blocking plate is adsorbed by the magnet, the outer side cargo blocking plate or the inner side cargo blocking plate moves forwards under the pushing of the push rods, and the push rods return to the initial position under the adsorption of the magnet.
Further, one side of the supporting plate facing the goods is provided with a round slope.
Furthermore, base pulleys are arranged on two sides of the scissor base.
Further, still include binocular vision identification system, binocular vision identification system includes binocular camera, machine carries computer and lighting system, and lighting system sets up on the crotch or in the construction occasion, and binocular camera is connected with machine carries computer, and whether there is the foreign matter on the space size and the discernment of binocular camera discernment put the cargo layer upper surface between with the carriage roof put the cargo layer on the cargo layer, if observe have the foreign matter to need get rid of the foreign matter earlier under the space, then judge put into the collection dress pocket goods pocket of adaptation with it under the space.
The specific process of the binocular recognition unloading method of the automatic hanging unloading device comprises the following steps.
S100: and calibrating the binocular camera, and calculating the internal and external parameters of the binocular camera.
S200: and shooting and collecting images in the space between the upper surface of the cargo layer and the top plate of the carriage by using a binocular camera, and sequentially carrying out graying, smooth filtering, image enhancement and image segmentation on the collected images.
S300: and outputting a disparity map by using the image processed in the S200.
S400: and performing three-dimensional reconstruction on the measured space by using the disparity map, calculating three-dimensional coordinates under the characteristic points in the disparity map, and then obtaining the length L, the width W, the height H and the volume V of the measured space.
S500: the measured space is analyzed and compared with the space of the existing actual packaging bag, and finally, the goods suitable for the judgment are placed in a decision mode.
Step S500 specifically includes the following steps, S501: judging whether foreign matters exist or not, cleaning the foreign matters firstly if the foreign matters exist, and judging the next step if the foreign matters do not exist; s502: judging whether stacking is carried out or not according to the length L, the width W and the height H, wherein an existing packaging pocket database is contained in the airborne computer, the packaging pocket is selected from the database to be the length L, the width W and the height H, the length L ', the width W and the height H' of the packaging pocket are all smaller than or equal to the measured space, the packaging pocket V 'max with the largest packaging pocket volume V' is selected on the premise, and the packaging pocket is an adaptive packaging pocket; s503: after confirming adaptation collection dress pocket data, obtain this adaptation collection dress pocket position according to airborne computer collection dress pocket position database, the concrete position of this adaptation collection dress pocket of direct determination, obtain this adaptation collection dress pocket of loading and unloading according to concrete position.
Compared with the prior art, the invention can realize the self-loading and self-unloading of goods by loading and unloading the goods on the loading and unloading vehicle of the gravity sensing loading and unloading device under the condition that a forklift is not used for automatically hooking and unhooking in the public, iron and water transportation loading and unloading vehicle operation process and under the condition that an auxiliary operator is not needed outside the vehicle to observe the arrangement space of the container bag and pick up and hang the hanging rings of the container bag, thereby greatly improving the operation efficiency, simultaneously reducing the operators and the loading and unloading cost, realizing the containerized transportation of the bagged goods and the like, realizing the full-flow mechanical loading and unloading, and advancing towards the goal of realizing the multiple type intermodal transportation planning of the public, iron, water and the like, thereby realizing the hanging and transferring task of one person and one machine.
The invention can be loaded on some construction vehicles, forklifts and other vehicles, can also be applied to occasions of loading, unloading and transferring tasks of assembly line operation and the like, and can load the automatic hanging and unloading device on equipment which does not realize automation and has single function, thereby increasing the functionality of the equipment, improving the operation efficiency and increasing the automation degree of the equipment during operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention loaded on a forklift;
FIG. 2 is a schematic side view of the overall structure of the apparatus of the present invention loaded on a forklift;
FIG. 3 is a schematic view of the apparatus of the present invention mounted on a fork and inner and outer gantries;
FIG. 4 is a schematic front view of a single drive hydraulic scissor pusher apparatus of the present invention;
FIG. 5 is a schematic structural view of a gravity-sensing gripping apparatus;
FIG. 6 is a schematic view of the internal structure of the gravity-sensing gripping apparatus;
FIG. 7 is a schematic structural view of a single-drive hydraulic scissor push rod device;
FIG. 8 is a schematic structural diagram of a scissor self-adaptive resetting device;
FIG. 9 is a schematic view of the fitting structure of the inner and outer cargo barriers;
FIG. 10 is a frame diagram of a space recognition and positioning system for packaging bags;
FIG. 11 is a schematic view of a decision-making adaptation containment pocket flow;
in the figure, 1-a forklift body, 2-a gravity sensing type gripping device, 3-a single-drive hydraulic scissor push rod device, 4-an inner gantry, 5-an outer gantry, 6-a chain wheel, 7-a scissor push rod connecting plate, 8-a gantry oil cylinder, 9-a scissor base, 10-a scissor mechanism, 11-an end scissor frame, 12-a push rod, 13-a fork synchronous cylinder, 14-a binocular camera, 15-a fork, 16-a nitrogen spring, 17-an adaptive gravity sensing device, 18-a peripheral baffle, 19-a scissor self-adaptive resetting device, 20-a circular bead slope, 21-an adaptive gravity device connecting rod, 22-a scissor self-adaptive telescopic rod, 23-an outer side cargo baffle, 24-a peripheral side connecting rod, 25-a top plate, 26-fork sliding groove, 27-peripheral baffle groove, 28-cargo baffle pulley, 29-supporting plate, 30-scissor reset groove, 31-scissor reset pulley, 32-inner cargo baffle, 33-top plate connecting rod, 34-transmission rod, 35-base pulley, 36-scissor pulley, 37-single driving oil cylinder, 38-hinge rod, 39-telescopic rod, 40-fork frame, 41-scissor reset spring and 42-shell.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, an automatic hanging and unloading device comprises a gravity sensing type gripping device 2, wherein the gravity sensing type gripping device 2 comprises a top plate 25 arranged on a fork of a forklift body 1, fork sliding grooves 26 are arranged at the bottoms of two sides of the top plate 25, two groups of front-back symmetrical self-adaptive sensing gravity devices 17 are arranged at the bottom of the middle of the top plate 25, each self-adaptive sensing gravity device 17 comprises a top plate connecting rod 33 fixed at the bottom of the top plate 25, the lower end of each top plate connecting rod 33 is hinged with one end of each of two transmission rods 34, the other end of each transmission rod 34 is hinged with a peripheral side connecting rod 24, the lower part of each top plate connecting rod 33, the transmission rods 34 and part of the inner side ends of the peripheral side connecting rods 24 are all arranged in a shell 42, the shell 42 is of an inverted Y-shaped structure, a top outlet is arranged right above the shell 42, and side outlets are symmetrically arranged at two sides of the shell 42, the top plate connecting rod 33 is inserted into the top outlet, the ends of the peripheral side connecting rods 24 on both sides are inserted from the side outlets and fixed to the upper part of the peripheral side baffle plate 18, the peripheral side baffle plate 18 is vertically arranged, the peripheral side baffle plate 18 moves in the horizontal direction under the pulling of the peripheral side connecting rods 24, and the supporting plate 29 is arranged at the bottom of the peripheral side baffle plate 18.
The structure of the forklift body 1 includes: the inner gantry 4 is embedded in the outer gantry 5 through a pulley, one side of the gantry oil cylinder 8 is fixed at one end of the lower part of the outer gantry 5, and the other side of the gantry oil cylinder is connected to the inner gantry 4. The sprocket chain 6 is connected on one side to the fork 40 and on the other side to the inner gantry 4. One side of the scissor push rod connecting plate 7 is connected with the single-drive hydraulic scissor push rod device 3, and the other side is connected with the fork frame 40. The fork synchronizing cylinder 13 is connected to both inner sidewalls of the fork frame 40 at one side and to the fork 15 at the other side.
The inner door frame 4 can be driven by the door frame oil cylinder 8 to move up and down, the fork frame 40 is driven by the chain wheel chain 6 to move up and down, and the fork synchronization cylinder 13 can enable the fork 15 to move left and right on the fork rod, so that the gravity induction type grabbing device 2 is driven to move.
Referring to fig. 3 and 5, the nitrogen spring 16 is installed at the middle position of the two sets of adaptive gravity sensing devices 17 at the bottom of the top plate 25, the lower end of the nitrogen spring 16 is connected with the adaptive gravity sensing device connecting rod 21, the adaptive gravity sensing device connecting rod 21 is horizontally arranged, and the front end and the rear end of the adaptive gravity sensing device connecting rod 21 are respectively fixed with the shell 42 on the two sets of adaptive gravity sensing devices 17. The nitrogen spring 16 guarantees when being equipped with the collection dress pocket goods, plays the effect of buffering, can restore to initial position automatically after the collection dress pocket goods is unloaded simultaneously.
Referring to fig. 6 and 9, an outer cargo barrier 23 and an inner cargo barrier 32 are arranged between the circumferential side barriers 18 at both sides, an inner groove is arranged at one side of the outer cargo barrier 23, one side of the inner cargo barrier 32 connected with the outer cargo barrier 23 is arranged in the inner groove and can slide along the inner groove, cargo barrier pulleys 28 are arranged at the outer sides of the outer cargo barrier 23 and the inner cargo barrier 32, two sets of circumferential side barrier grooves 27 arranged in the horizontal direction are arranged at the inner side of the circumferential side barriers 18, and the cargo barrier pulleys 28 are arranged in the circumferential side barrier grooves 27 and slide along the circumferential side barrier grooves 27.
Referring to fig. 5 and 8, a scissor self-adaptive reset device 19 is connected between the circumferential side baffles 18 on both sides, the scissor self-adaptive reset device 19 is of a scissor structure, two sets of scissor reset springs 41 are arranged on the scissor self-adaptive reset device 19, the end of the scissor self-adaptive reset device 19 is provided with two branches, one branch is hinged with the circumferential side baffles 18, the other branch is provided with a scissor reset pulley 31, and the scissor reset pulley 31 slides along a scissor reset groove 30 arranged on the circumferential side baffles 18. The scissors structure 10 is composed of a plurality of scissors self-adaptive telescopic rods 22, and a scissors structure hinge of the scissors self-adaptive reset device 19 is provided with a scissors reset spring 41, so that the width of a container bag can be extended under the action of the scissors reset spring 41 when the scissors self-adaptive reset device does not work, and the reset effect is realized. The scissor reset pulley 31 and the scissor reset groove 30 slide to ensure the scissor self-adaptive reset device to normally stretch.
Referring to fig. 1, the single-drive hydraulic scissor push rod device 3 is further included. Referring to fig. 7, the single-drive hydraulic scissor push rod device 3 includes a scissor base 9 installed on the forklift body 1, a scissor mechanism 10 is installed on the scissor base 9, the scissor mechanism 10 is composed of a scissor pulley 36, a single-drive cylinder 37, a hinge rod 38 and a telescopic rod 39, the telescopic rods 39 are hinged to form a scissor-like link mechanism, the scissor-like link mechanism is divided into an upper layer and a lower layer, the two layers of hinge points are connected by the hinge rod, one fork at the rear end of the scissor-like link mechanism is hinged to the scissor base 9, the other fork is provided with the scissor pulley 36, and the scissor pulley 36 is driven by the single-drive cylinder 37 to slide on the scissor base 9. The front end of the scissor mechanism 10 is connected with a tail end scissor rack 11, four push rods 12 are arranged on the front side of the tail end scissor rack 11, a groove is formed in the front end of each push rod 12, a magnet used for adsorbing an outer side cargo blocking plate 23 or an inner side cargo blocking plate 32 is arranged in the groove, the front end of each push rod 12 is in contact connection with the outer side cargo blocking plate 23 or the inner side cargo blocking plate 32, the magnet adsorbs the outer side cargo blocking plate 23 or the inner side cargo blocking plate 32, and the outer side cargo blocking plate 23 or the inner side cargo blocking plate 32 moves forwards under the pushing of the push rods 12 and returns to an initial position under the adsorption of the magnet.
In order to ensure that the single-drive hydraulic cylinder scissor push rod device 3 keeps vertically moving up and down along with the fork frame 40 in the inner door frame 4 under the connecting action of the scissor push rod connecting plate 7, base pulleys 35 can be arranged on two sides of the scissor base 9 to ensure that the scissor base 9 is fixed in the horizontal direction.
The bearing plate 29 is provided with fillet slope 20 towards one side of goods, and bearing plate surface material is smooth type material, the collection dress pocket goods of being convenient for and the loading and unloading of bearing plate, promptly with gravity-feed tank formula grabbing device separation.
Still include binocular vision identification system, binocular vision identification system includes binocular camera 14, machine carries computer and lighting system, and lighting system sets up on crotch 40 or in the construction occasion, and binocular camera 14 is connected with machine carries the computer, and whether there is the foreign matter on the goods layer has been put to the space size and the discernment of binocular camera 14 discernment between goods layer upper surface and the carriage roof put the goods layer, if observe have the foreign matter to need to get rid of the foreign matter earlier under the space, then judge put into the collection pocket goods of adaptation with it under the space.
Referring to fig. 10, the specific process of the binocular recognition unloading method of the automatic hitching unloading device comprises the following steps:
s100: and calibrating the binocular camera 14, and calculating the binocular camera internal and external parameters of the binocular camera 14.
S200: the binocular camera 14 is used for shooting and collecting images of the space of the object captured in the gravity sensing type capturing device 2, and the collected images are subjected to graying, smooth filtering, image enhancement and image segmentation in sequence. Due to the fact that the quality of images acquired by a binocular camera is poor in practical occasions, image graying, smooth filtering, image enhancement and image segmentation technologies are needed, and environment algorithms which are more suitable for low visibility, high noise and the like are selected in different steps.
S300: and outputting a disparity map by using the image processed in the S200.
The step S300 specifically includes the following steps,
s301: obtaining the internal and external parameters M1 and M2 of the camera through image acquisition and calibration of a binocular camera, thereby obtaining the conversion parameters from an image coordinate system to a world three-dimensional coordinate system,
wherein (u, v) pixel coordinates, (xw, yw, zw) are world coordinates, f is a focal length, R, T are a rotation matrix and a translation matrix from the world coordinate system to the image coordinate system respectively, dx is the length of a pixel in the x-axis direction of the image physical coordinate system, dy is the length of a pixel in the y-axis direction of the image physical coordinate system, and zc is the length of the point in the z-axis direction of the camera coordinate system.
S302: and carrying out image preprocessing and extracting feature points on the image, wherein the feature points are information of the top point of the detected space.
S303: performing binocular correction; the depth information of the angular points is estimated through two images shot by a binocular camera, the same angular point must be matched in the two images, and the depth information of the angular points can be determined only in this way. And (3) using Bouguet stereo correction to output a matrix Q, and realizing conversion between a world coordinate system and an image pixel coordinate system.
Wherein
Is the principal point coordinate on the left image of the binocular camera,
is the coordinate of the principal point on the right image,
the distance is a base line distance, d is the parallax of the corner points corresponding to the corner points, and the three-dimensional coordinates of the object in the world coordinate system are (X/W, Y/W, Z/W).
S304: and performing stereo matching and outputting a disparity map. The disparity map is generated by stereo matching in HALCON software by using a binoculars _ disparity operator through the feature points of one edge map (such as the left image) of the binocular camera and searching the corresponding other edge map (such as the right image) for the modified points so as to obtain the coordinates corresponding to the modified points.
S400: and performing three-dimensional reconstruction on the measured space by using the disparity map, calculating three-dimensional coordinates under the characteristic points in the disparity map, and then obtaining the length L, the width W, the height H and the volume V of the measured space.
S401: the three-dimensional coordinates of the feature points (vertices) in the disparity map are calculated using the disparity _ to _ point3d operator.
S402: the distances among the vertexes, namely the length L, the width W, the height H and the measured space volume V of the measured space are obtained, the four vertexes on the upper surface of the measured space are arranged clockwise (x 1, y 1), (x 2, y 2), (x 3, x 3) and (x 4, x 4), and the four vertexes on the lower surface of the measured space are arranged clockwise (x 5, y 5), (x 6, y 6), (x 7, y 7) and (x 8, y 8).
Labeling each vertex in the measured space:
，i=1、2…8。
s500: the measured space is analyzed and compared with the space of the existing actual packaging pocket, and finally, the adaptive packaging pocket is obtained through decision making, and the specific flow is shown in figure 11.
S501: and judging whether foreign matters exist or not, cleaning the foreign matters firstly if the foreign matters exist, and judging next step if the foreign matters do not exist. Specifically, the images processed by the S200 are matched with foreign body feature points through a common foreign body template library, the foreign body feature points can be matched through an ORB algorithm, if the foreign bodies are matched and identified through the foreign body template library, container bags and goods are not stacked, and at the moment, the foreign bodies need to be removed and then judged next.
S502: the on-board computer contains the existing collection dress pocket database in, selects the collection dress pocket to be all less than or equal to by survey space gained length L, width W, height H ' from this database, selects the biggest collection dress pocket V ' max of collection dress pocket volume V ' under this prerequisite, and this collection dress pocket is the adaptation collection dress pocket.
S503: after confirming adaptation collection dress pocket data, obtain this adaptation collection dress pocket position according to airborne computer collection dress pocket position database, the concrete position of this adaptation collection dress pocket of direct determination, obtain this adaptation collection dress pocket of loading and unloading according to concrete position.
As shown in fig. 1, in the gravity sensing loading and unloading device loaded on the forklift body 1, in an actual working condition, the container bags and goods are orderly stacked at a specified place, and the forklift body 1 which is loaded on the gravity sensing loading and unloading device reaches the place and transfers all the container bags containing the goods to an unloading point, so that the goods are loaded and unloaded by a one-man one-machine loading and unloading forklift.
Firstly, the forklift body 1 is driven to a designated place where goods need to be transferred, the forklift is driven to a position aligned with a packaging bag (assuming that the packaging bag is filled with the goods which need to be transferred), the inner gantry 4 and the fork frame containing the dual-drive hydraulic cylinder drive the fork 15 and the gravity sensing type grabbing device 2 to rise to a certain height through the driving oil cylinder, under the condition that the width of the gravity sensing type grabbing device 2 (at the moment, the initial width of the peripheral side baffle is kept under the action of a group of nitrogen springs 16) is ensured to be slightly larger than the width of the packaging bag, the fork 15 is driven along with the forward movement of the forklift body 1, the fork 15 drives the gravity sensing grabbing device 2 to move forward until the packaging bag completely enters the gravity sensing grabbing device 2, at the moment, the bearing plate 29 is arranged below the packaging bag, at the moment, the fork frame 40 is lifted under the action of the gantry oil cylinder 8 and the chain wheel chain 6 to drive the fork 15, the fork drives the gravity sensing device 2 to move upwards, the packaging bag is completely contacted with the supporting plate 29 at the moment, under the buffer action of the nitrogen spring 16, the top plate 25 is driven to move upwards along with the continuous rising of the fork 15, the top plate connecting rod 33 extends upwards, the top plate connecting rod 33 moves in the self-adaptive gravity sensing device 17 and drives the transmission rod 34 to act, the transmission rod 34 drives the peripheral side plate connecting rod 24 to move in the self-adaptive gravity sensing device 17, the other end of the peripheral side plate connecting rod 24 is welded with the peripheral side baffle 18, at the moment, each transmission rod 34 drives the peripheral side baffle 18 to move inwards in parallel to further clamp the goods, and after the goods are completely clamped, the rod piece in the self-adaptive gravity sensing device 17 does not act, and the fork 15 can lift the gravity sensing gripping device 2 together with the packaging bag. At this time, the gripped packaging bag is transferred to a discharging point, and after the packaging bag reaches the discharging point, the fork frame 40 is driven to move downwards through the door frame oil cylinder 8 and the chain wheel chain 6, the fork frame 40 drives the fork 15, the fork 15 drives the gravity sensing type gripping device 2 until the bearing plate 29 contacts the bottom surface, and at this time, the gravity sensing type gripping device 2 needs to be pulled out.
And repeating the operation until all the container bags containing the goods are completely transferred.
The above mentioned are only preferred applications of the present invention, and it is within the scope of the present invention to achieve the purpose of shipping the target object by achieving the self-clamping state after the load is loaded through different adjusting devices and the transmission mechanism in the adaptive gravity sensing device.
Claims (7)
1. An automatic hanging unloading device is characterized in that: comprises a gravity sensing type gripping device (2), the gravity sensing type gripping device (2) comprises a top plate (25) arranged on a fork of a forklift body (1), fork sliding grooves (26) are arranged at the bottoms of two sides of the top plate (25), two groups of self-adaptive sensing gravity devices (17) which are symmetrical front and back are arranged at the bottom in the middle of the top plate (25),
the self-adaptive gravity sensing device (17) comprises a top plate connecting rod (33) fixed at the bottom of a top plate (25), the lower end of the top plate connecting rod (33) is hinged with one end of each of two transmission rods (34), the other end of each transmission rod (34) is hinged with the periphery side connecting rod (24), the lower part of the top plate connecting rod (33), the inner side ends of the transmission rods (34) and the periphery side connecting rods (24) are arranged in a shell (42), the shell (42) is of an inverted Y-shaped structure, a top outlet is arranged right above the shell (42), side outlets are symmetrically arranged on two sides of the shell (42), the upper part of the top plate connecting rod (33) is arranged in the top outlet in a penetrating mode, the end parts of the periphery side connecting rods (24) on two sides penetrate out from the side outlets and are fixed with the upper part of the periphery side baffle (18), the periphery side baffle (18) is vertically arranged, the periphery side baffle (18) moves in the horizontal direction under the pulling of the periphery side connecting rods (24), the bottom of the peripheral baffle (18) is provided with a bearing plate (29);
an outer side cargo baffle (23) and an inner side cargo baffle (32) are arranged between the side baffle (18) at the two sides, one side of the outer side cargo baffle (23) is provided with an inner groove, the side, connected with the outer side cargo baffle (23), of the inner side cargo baffle (32) is arranged in the inner groove and can slide along the inner groove, cargo baffle pulleys (28) are arranged at the outer sides of the outer side cargo baffle (23) and the inner side cargo baffle (32), the inner side of the side baffle (18) is provided with an upper group of baffle circumferential side grooves (27) and a lower group of baffle circumferential side grooves (27) which are arranged in the horizontal direction, and the cargo baffle pulleys (28) are arranged in the circumferential side baffle grooves (27) and slide along the circumferential side baffle grooves (27);
the single-drive hydraulic scissor fork push rod device (3) comprises a scissor fork base (9) installed on a forklift body (1), a scissor fork mechanism (10) is installed on the scissor fork base (9), the front end of the scissor fork mechanism (10) is connected with a tail-end scissor fork frame (11), four push rods (12) are arranged on the front side of the tail-end scissor fork frame (11), a groove is formed in the front end of each push rod (12), a magnet used for adsorbing an outer side cargo blocking plate (23) or an inner side cargo blocking plate (32) is arranged in the groove, the front end of each push rod (12) is in contact connection with the outer side cargo blocking plate (23) or the inner side cargo blocking plate (32), the outer side cargo blocking plate (23) or the inner side cargo blocking plate (32) is adsorbed by the magnet, the outer side cargo blocking plate (23) or the inner side cargo blocking plate (32) moves forwards under the pushing of the push rods (12), and returns to an initial position under the adsorption of the magnet.
2. Automatic hitch unloading apparatus as claimed in claim 1, characterized in that: the bottom of the top plate (25) is located at the middle position of the two sets of self-adaptive sensing gravity devices (17) and is provided with a nitrogen spring (16), the lower end of the nitrogen spring (16) is connected with a self-adaptive gravity device connecting rod (21), the self-adaptive gravity device connecting rod (21) is horizontally arranged, and the front end and the rear end of the self-adaptive gravity device connecting rod (21) are respectively fixed with a shell (42) on the two sets of self-adaptive sensing gravity devices (17).
3. Automatic hitch unloading apparatus as claimed in claim 2, characterized in that: be connected with between the week side baffle (18) of both sides and cut fork self-adaptation resetting means (19), cut fork self-adaptation resetting means (19) and be the fork structure of cutting, be provided with two sets of fork reset spring (41) on the fork self-adaptation resetting means (19), the tip of cutting fork self-adaptation resetting means (19) is two forks, and one of them fork is articulated with week side baffle (18) and is connected, and another fork is provided with fork reset pulley (31), and fork reset pulley (31) slide along the fork reset groove (30) that sets up on week side baffle (18).
4. Automatic hitch unloading apparatus as claimed in claim 1, characterized in that: and one side of the supporting plate (29) facing the goods is provided with a round-angle slope (20).
5. The automatic hitch unloading apparatus of claim 1, wherein: base pulleys (35) are arranged on two sides of the scissor base (9).
6. Automatic hitch unloading apparatus as claimed in any one of claims 1-5, characterized in that: still include binocular vision identification system, binocular vision identification system includes binocular camera (14), machine carries computer and lighting system, and lighting system sets up on crotch (40) or in the construction occasion, and binocular camera (14) are connected with machine carries the computer, and whether there is the foreign matter on the goods layer has been put to space size and the discernment between goods layer upper surface and the carriage roof of binocular camera (14) discernment, if observe there is the foreign matter to need to get rid of the foreign matter earlier under the space, then judge put into the collection pocket goods with its adaptation under the space.
7. A binocular recognition unloading method based on the automatic hitch unloading apparatus of claim 6, characterized in that: the method comprises the following steps:
s100: calibrating the binocular camera (14), and calculating the internal and external parameters of the binocular camera (14);
s200: shooting and collecting images of a space for capturing an object in the gravity sensing type capturing device (2) by using a binocular camera (14), and sequentially carrying out graying, smooth filtering, image enhancement and image segmentation on the collected images;
s300: outputting a disparity map by using the image processed in the S200;
s400: performing three-dimensional reconstruction on the measured space by using the disparity map, calculating three-dimensional coordinates under characteristic points in the disparity map, and then obtaining the length L, the width W, the height H and the volume V of the measured space;
s500: the measured space is analyzed and compared with the space of the existing actual packaging bag, and finally the goods suitable for the judgment are placed in a decision, the step S500 specifically comprises the following steps,
s501: judging whether foreign matters exist or not, if so, cleaning the foreign matters, and if not, performing the next judgment;
s502: judging whether stacking is carried out or not according to the length L, the width W and the height H, wherein an existing packaging pocket database is contained in the airborne computer, the packaging pocket is selected from the database to be the length L, the width W and the height H, the length L ', the width W and the height H' of the packaging pocket are all smaller than or equal to the measured space, the packaging pocket V 'max with the largest packaging pocket volume V' is selected on the premise, and the packaging pocket is an adaptive packaging pocket;
s503: after confirming adaptation collection dress pocket data, obtain this adaptation collection dress pocket position according to airborne computer collection dress pocket position database, the concrete position of this adaptation collection dress pocket of direct determination, obtain this adaptation collection dress pocket of loading and unloading according to concrete position.
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