CN114955861A - Loading system and method based on unmanned overhead traveling crane and computer readable storage medium - Google Patents

Abstract

The invention provides a loading system based on an unmanned overhead traveling crane, which comprises: loading and unloading the subsystem: after the loading and unloading subsystem is identified by the shape identification subsystem, acquiring a physical coordinate value of the material to be loaded; shape recognition subsystem: the physical coordinate values are acquired by scanning the loading and unloading subsystem and the material to be loaded, and the overall dimensions and real-time physical coordinate values of the loading and unloading subsystem and the material to be loaded are acquired; the execution subsystem: and sucking or unloading the material to be loaded according to the physical coordinate values acquired by the shape recognition subsystem. The invention also provides a loading method based on the unmanned overhead traveling crane, which can meet the requirement of close placement and improve the loading rate when the full-automatic unmanned overhead traveling crane is adopted to load cylindrical materials on the saddle-free flat car.

Description

Loading system and method based on unmanned overhead traveling crane and computer readable storage medium

Technical Field

The invention relates to the technical field of automatic control, in particular to a loading system and method based on an unmanned overhead traveling crane and a computer readable storage medium, and particularly relates to a system and method for loading a cylindrical object on a saddle-free flat plate based on a full-automatic unmanned overhead traveling crane.

Background

At present, the application of full-automatic unmanned overhead traveling cranes is increasing. When the unmanned full-automatic overhead traveling crane is used for automatic lifting, although the positioning precision of the overhead traveling crane is much higher than that of a manual positioning precision, the unmanned full-automatic overhead traveling crane cannot meet the requirement in some occasions.

When cylindrical materials such as coils and the like are loaded by a flat car without a saddle, the materials are required to be placed closely in order to improve the loading rate.

However, in the hoisting process of the fully-automatic unmanned overhead travelling crane, although the positioning accuracy is higher than that in the manual operation, the rail, the parking position of the flat car, the positioning accuracy and the like have influence on the final unloading accuracy, and the connection between the fully-automatic unmanned overhead travelling crane and the hoisting tool adopts a steel wire rope, so that the fully-automatic unmanned overhead travelling crane is soft and has shaking factors, and in such occasions, the requirement of tightly loading cylindrical materials is difficult to achieve.

Through retrieval, patent document CN104590924A discloses a loading device capable of automatically loading boxes and stacking, which includes a cargo compartment platform trailer for receiving goods from outside, two rails disposed on the left and right of the cargo compartment platform trailer, a gantry transfer device disposed on the rails and capable of walking along the rails, and a control system; the gantry transfer device comprises a main portal frame, vertical columns arranged on the left side and the right side, a traveling mechanism at the bottom, a lifting mechanism arranged on the portal frame, a lifting chain connected with the lifting mechanism and a lifting platform connected with the lifting chain; the bottom of the lifting platform is provided with a fork body for forking and lifting goods. Although the prior art has high automation degree and high loading speed, the loading stacking efficiency is greatly improved, the prior art has the defects that the loading of cylindrical materials cannot be solved, and the parking position, the positioning precision and the like of the flat car when the flat car without the saddle is used for loading cannot be ensured.

Therefore, there is a need to develop a device that can be placed in close contact and has a high loading rate when a full-automatic unmanned overhead travelling crane is used for loading materials in a cylindrical manner on a flat car without a saddle.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a loading system and method based on an unmanned overhead traveling crane and a computer readable storage medium, which can meet the requirement of close placement and improve the effect of the loading rate when a full-automatic unmanned overhead traveling crane is adopted to load cylindrical materials on a saddle-free flat car.

The invention provides a loading system based on an unmanned overhead traveling crane, which comprises:

loading and unloading the subsystem: after the loading and unloading subsystem is identified by the shape identification subsystem, acquiring a physical coordinate value of the material to be loaded;

a shape recognition subsystem: the physical coordinate values are acquired by scanning the loading and unloading subsystem and the material to be loaded, and the overall dimension and the real-time physical coordinate values of the loading and unloading subsystem and the material to be loaded are acquired;

the execution subsystem: and sucking or unloading the material to be loaded according to the physical coordinate values acquired by the shape recognition subsystem.

Preferably, the loading and unloading subsystem comprises a loading vehicle, which is a flat-bed vehicle without a saddle.

Preferably, the loading and unloading subsystem further comprises a loading and unloading area, and the loading and unloading area is provided with a parking space.

Preferably, the parking space is provided with stop blocks at the front end and the rear end of the loading area in the loading vehicle hopper in the loading and unloading subsystem.

Preferably, the shape recognition subsystem comprises a two-dimensional laser scanner and a third-dimensional moving mechanism for three-dimensional scanning to obtain the hopper coordinates of the loading vehicle in the loading and unloading subsystem.

Preferably, the shape recognition subsystem comprises only a two-dimensional laser scanner, which is mounted to the execution subsystem.

Preferably, the execution subsystem is provided with a marker, an encoder and a weight detection sensor, and the deflection angle, the height and the weight of the material to be loaded of the execution subsystem can be measured through the marker, the encoder and the weight detection sensor.

The invention provides a loading method based on an unmanned overhead traveling crane, which comprises the following steps:

step S1: automatically sucking the first material to be loaded by an execution subsystem;

step S2: when the loading vehicle stops at a loading and unloading area, acquiring a bucket physical coordinate value of the loading vehicle through a shape recognition system, and determining a loading and unloading position of a first material to be loaded;

step S3: after the loading and unloading position of the first material to be loaded is determined, the automatic loading of the first material to be loaded is completed through the execution subsystem;

step S4: after the automatic loading of the first material to be loaded is finished, the execution subsystem finishes automatic suction of the second material to be loaded;

step S5: automatically acquiring a center position X of a first material to be loaded via a shape recognition system _(n-1) Determining the loading and unloading position of a second material to be loaded;

step S6: and repeating the steps S4-S5 until the loading vehicle is completely loaded.

Preferably, step S3 includes:

step S3.1: the execution subsystem runs to the position above the loading and unloading position of the first material to be loaded and starts to fall to the set position at the bottom of the car hopper and stops;

step S3.2: controlling a cart or a trolley in the execution subsystem to run towards the direction of a head baffle plate until the cart or the trolley stops running when the image recognition device in the execution subsystem captures the position of the marker and displaces by a set amount;

step S3.3: and slowly descending the first material to be loaded until the weight signal of the first material to be loaded is 0 through the execution subsystem, and unloading the first material to be loaded.

According to the present invention, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method of one of claims 8 to 9.

Compared with the prior art, the invention has the following beneficial effects:

1. when the loading system based on the unmanned overhead travelling crane is used for loading materials, the requirement of close placement can be met, and the actual loading rate is improved.

2. The invention can realize accurate scanning of the loading and unloading subsystem to obtain the physical coordinate value of the loading and unloading subsystem by arranging the shape recognition system, thereby realizing the close placement.

3. According to the invention, the high-momentum collision between materials is reduced by acquiring accurate physical coordinate values, and quality objections are avoided.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of the loading of the material to be loaded in the present invention;

FIG. 2 is a schematic view of a parking space according to the present invention;

FIG. 3 is a schematic view of a scan angle in the present invention;

FIG. 4 is a schematic illustration of three-dimensional scanning imaging in accordance with the present invention;

FIG. 5 is a schematic view of the overall structure of the present invention;

FIG. 6 is a flowchart illustrating step S3 according to the present invention;

FIG. 7 is a flowchart illustrating steps S4-S6 according to the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.

As shown in fig. 1 to 5, the present invention provides a loading system based on an unmanned overhead traveling crane, including: loading and unloading the subsystem: after the loading and unloading subsystem is identified by the shape identification subsystem, acquiring a physical coordinate value of the material to be loaded; a shape recognition subsystem: the physical coordinate values are acquired by scanning the loading and unloading subsystem and the material to be loaded, and the overall dimension and the real-time physical coordinate values of the loading and unloading subsystem and the material to be loaded are acquired; the execution subsystem: and sucking or unloading the material to be loaded according to the physical coordinate value acquired by the shape recognition subsystem.

Further, the loading and unloading subsystem comprises a loading vehicle and a loading area, and parking spaces are divided in the loading and unloading area. The loading vehicle is parked in the divided parking spaces. In the loading process of the materials to be loaded, in order to ensure safety and avoid unexpected movement of a loaded vehicle in the loading and unloading process, the front end and the rear end of a loading area in a loading hopper of the loading and unloading subsystem on a parking space are provided with stop blocks, the vehicle backs into the parking space, and the field operation is more convenient.

The shape recognition subsystem can be implemented in two ways. The first method is to adopt a two-dimensional laser scanner and a third-dimensional high-precision moving mechanism to realize a three-dimensional scanning function, combine an image processing technology, comprehensively adopt filtering and data clustering analysis to realize accurate scanning of a hopper part of a loading vehicle, obtain 4-point coordinates of the hopper, and obtain the roll-off coordinates of a first roll by calculation.

The second is to use only two-dimensional laser scanner, which is installed on the cart or trolley of the overhead traveling crane. The scanner scans in real time along with the movement of a cart or a trolley of the overhead travelling crane. Combining position coordinates of a cart or a trolley and an image processing technology, comprehensively adopting filtering and data clustering analysis to realize accurate scanning of a car hopper part, obtaining 4-point coordinates of the car hopper, and obtaining the roll-off coordinates of a first roll by calculation.

In a further aspect, the image processing is that above an object to be scanned, the two-dimensional laser scanner forms a series of fan-shaped laser scanning vertical planes through the operation of a cart or a trolley, or the two-dimensional laser scanner forms a series of fan-shaped laser scanning vertical planes through the rotation of a high-precision moving mechanism in a third dimension, and laser irradiates the surface of the object to be scanned to return, so that a scanning image consisting of data points is formed in a scanning plane.

According to the characteristics of the laser scanner, each laser moment value is the distance from a scanned object point to the laser head, and a two-dimensional coordinate system is established by combining the scanning precision value, so that the physical coordinate value of the scanned object can be restored.

By acquiring physical coordinate values, and by methods of data preprocessing, data blocking and feature extraction, the scanned object is accurately identified and positioned, and the overall dimensions and real-time physical coordinates of the vehicle and the steel coil are obtained.

Still further, the execution subsystem comprises an unmanned full-automatic crown block, and in order to load the materials to be loaded on the saddle-free flat car, the unmanned full-automatic crown block needs to obtain the deflection angle and the height of the lifting appliance and a material weight detection signal on the lifting appliance.

In order to obtain the deflection angle of the lifting appliance, a marker is arranged on the lifting appliance of the unmanned full-automatic crown block, and a set of image recognition device is arranged below the trolley to obtain the position of the marker in real time.

In order to obtain the height of the lifting appliance, a rotary encoder is arranged at the center of a wire rope winding drum of an unmanned full-automatic overhead traveling crane, and the height of the lifting appliance is converted through the pulse numerical value of the encoder.

In order to obtain a material weight detection signal of the lifting appliance, the weight detection signal can be obtained by additionally arranging a weight detection sensor.

In the present inventionPreferred embodiment(s) of the inventionFor further explanation.

Based on the above described embodiments, the loader of the invention may be a flat car without a saddle.

Based on the above embodiments, the material to be loaded in the present invention is a cylindrical material, such as a coil, a steel coil, a wire coil, and the like.

In the present inventionVariation exampleFor further explanation.

Based on the above embodiments, the marker installed on the lifting appliance of the present invention may be a calibration plate or a light source.

The invention also provides a loading method based on the unmanned overhead traveling crane, which comprises the following steps:

step S1: the first material to be loaded is automatically sucked by the execution subsystem.

Step S2: and when the loading vehicle stops at the loading and unloading area, acquiring the physical coordinate value of a hopper of the loading vehicle through the shape recognition system, and determining the loading and unloading position of the first material to be loaded.

Step S3: after the loading and unloading position of the first material to be loaded is determined, the automatic loading of the first material to be loaded is completed by the execution subsystem.

Step S3.1: the execution subsystem runs to the position above the loading and unloading position of the first material to be loaded, starts to fall to the set position of the bottom of the car hopper, and stops when the execution subsystem falls to about 10cm (adjusted according to actual conditions of the site) away from the bottom of the car hopper.

Step S3.2: controlling a cart or a trolley in the execution subsystem to run towards the direction of a head baffle plate until the cart or the trolley stops running when the image recognition device in the execution subsystem captures the position of the marker and displaces by a set amount; namely, when the cylindrical material is close to the front baffle of the car hopper, the cart or the trolley continues to run, and when the image recognition device at the bottom of the trolley catches the displacement of the position of the marker on the hanger, the adjustment is carried out according to the actual situation on site, and the offset is about 0.1-1 degrees or converted into the distance.

Step S3.3: and slowly descending the lifting appliance in the execution subsystem until the weight signal of the first material to be loaded is 0, and unloading the first material to be loaded so that the first material to be loaded is close to the front baffle.

Step S4: and after the automatic loading of the first material to be loaded is finished, the execution subsystem finishes automatically sucking the second material to be loaded.

Step S5: automatic acquisition of the center position X of a first material to be loaded via a shape recognition system _(n-1) And (5) calculating the unloading position of the material to be loaded by the unmanned full-automatic overhead traveling crane according to the obtained position of the first material to be loaded and the size of the material to be loaded, and moving the unloading position to the upper part of the unloading position is executed with reference to the step S3. In this cycle of operation. It should be noted that, the target unloading position of the unmanned full-automatic crown block is spaced from the placing position of the last material to be loaded, and the calculation formula of the target position Xn is as follows:

x _n ＝x _n-1 +r _n +r _n-1 +m

wherein the content of the first and second substances,

X _n : target position of cylindrical material circularly lifted and transported in current operation

X _n-1 : unloading position of cylindrical material hoisted in last operation cycle

r _n : radius of cylindrical material circularly lifted in current operation

r _n-1 : radius of cylindrical material hoisted in last operation cycle

m: and the offset is adjusted according to the actual situation of the site.

Step S6: and repeating the steps S4-S5 until the loading vehicle is completely loaded.

In some occasions, the first material to be loaded can be manually lifted, and the following materials can be automatically lifted.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. A loading system based on an unmanned overhead traveling crane is characterized by comprising:

a loading and unloading subsystem: after the loading and unloading subsystem is identified by the shape identification subsystem, the physical coordinate value of the material to be loaded is obtained;

shape recognition subsystem: the physical coordinate values are acquired by scanning the loading and unloading subsystem and the material to be loaded, and the overall dimensions and real-time physical coordinate values of the loading and unloading subsystem and the material to be loaded are acquired;

the execution subsystem: and sucking or unloading the material to be loaded according to the physical coordinate values acquired by the shape recognition subsystem.

2. The unmanned overhead vehicle-based loading system of claim 1, wherein said loading subsystem comprises a loading cart that is a flat-bed cart without a saddle.

3. The unmanned crown block-based loading system of claim 1, wherein the loading and unloading subsystem further comprises a loading and unloading area, the loading and unloading area being provided with parking spaces.

4. The unmanned overhead traveling vehicle-based loading system as claimed in claim 3, wherein the parking space is provided with stoppers at front and rear end positions of a loading area in a loading hopper of the loading and unloading subsystem.

5. The unmanned overhead traveling vehicle-based loading system according to claim 1, wherein the shape recognition subsystem comprises a two-dimensional laser scanner and a third-dimensional moving mechanism for three-dimensional scanning to obtain the hopper coordinates of the loading vehicle in the loading and unloading subsystem.

6. The unmanned crown block-based loading system of claim 1, wherein the shape recognition subsystem comprises only a two-dimensional laser scanner mounted to the execution subsystem.

7. The unmanned overhead traveling vehicle-based loading system according to claim 1, wherein a marker, an encoder and a weight detecting sensor are provided in the execution subsystem, and the drift angle, the height and the weight of the material to be loaded of the execution subsystem can be measured by the marker, the encoder and the weight detecting sensor.

8. A loading method based on an unmanned overhead traveling crane is characterized by comprising the following steps:

step S1: automatically sucking the first material to be loaded by an execution subsystem;

step S2: when the loading vehicle stops at a loading and unloading area, acquiring a bucket physical coordinate value of the loading vehicle through a shape recognition system, and determining a loading and unloading position of a first material to be loaded;

step S3: after the loading and unloading position of the first material to be loaded is determined, the automatic loading of the first material to be loaded is completed through the execution subsystem;

step S4: after the automatic loading of the first material to be loaded is finished, the execution subsystem finishes automatic absorption of the second material to be loaded;

step S5: automatically acquiring a center position X of a first material to be loaded via a shape recognition system _(n-1) Determining the loading and unloading position of a second material to be loaded;

step S6: and repeating the steps S4-S5 until the loading vehicle is completely loaded.

9. The unmanned aerial vehicle-based loading method according to claim 8, wherein the step S3 comprises:

step S3.1: the execution subsystem operates to the position above the loading and unloading position of the first material to be loaded and starts to fall to the set position at the bottom of the car hopper and stops;

step S3.2: controlling a cart or a trolley in the execution subsystem to run towards the direction of a head baffle until the cart or the trolley stops running when the image recognition device in the execution subsystem captures the position of the marker and displaces a set amount;

step S3.3: and slowly descending the first material to be loaded until the weight signal of the first material to be loaded is 0 through the execution subsystem, and unloading the first material to be loaded.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 8 to 9.

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