CN115205458A - Intelligent loading system based on laser radar scanning modeling measurement - Google Patents
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Abstract
The invention relates to an intelligent loading system based on laser radar scanning modeling measurement, which comprises a laser radar measuring module, a sales management module and an unattended weighing module, wherein the laser radar measuring module is used for measuring the laser radar scanning modeling measurement; the sales management module generates information to be weighed and transmits the information to be weighed to the laser radar measuring module; the laser radar measuring module detects the volume of goods on the vehicle in a scanning, modeling and identifying mode; the unattended weighing module is used for weighing a vehicle with goods and assisting the laser radar vehicle module to weigh. The invention achieves the following beneficial effects: the whole loading speed can be improved; manual intervention is reduced, and labor cost is saved; the automatic material judgment of the loading vehicle prevents wrong loading or multiple loading from the source, and improves the transparency of management; personnel do not need to arrive the scene, have ensured personnel's safety and health effectively.
Description
Technical Field
The invention relates to the technical field of freight car loading perception, in particular to an intelligent loading system based on laser radar scanning modeling measurement.
Background
The loading on the market at present mainly depends on equipment such as manual storage bins, loaders, belt conveyors or forklifts, and the common fault of the equipment is that people are required to operate or guide on site. Because the loading material must be seen whether the vehicle is full or not by a person, the person must monitor the loading condition of the material at the high position of the vehicle in real time, and the person easily falls from the high position to cause death and injury. Because the materials are placed in bulk or bagged for a long time, dust is generated, field personnel easily suck the dust, and the harm is brought to the health of the field personnel. The loader or the forklift easily brings mechanical injury to personnel on site, simultaneously has high cost, and tail gas generated in the warehouse also pollutes the environment of the warehouse. The above devices have no metering control, and due to human negligence, wrong or multiple products are sometimes packaged, which brings about serious loss to enterprises. Some enterprises also take pictures to identify and measure distances, but the error rate of distance measurement is high due to the influence of light and environment.
Based on this, this company develops one set of intelligent loading system by oneself, to the automatic loading system of enterprise's bulk cargo product and bagged products, for the bulk cargo product of enterprises such as industrial and mining, grain and oil, building materials, chemical industry and bagged products's loading provides the guarantee of safety, environmental protection, improves the loading speed, has prevented material product's misloading and multi-packing effectively from the source, has strengthened the transparency of enterprise's management to save a large amount of human costs and manufacturing cost for the enterprise.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an intelligent loading system based on laser radar scanning modeling measurement, and achieves the effects of improving the speed of the whole loading, reducing manual intervention, saving labor cost, automatically judging loading materials, preventing mistaken loading or multiple loading from the source, improving the transparency of management, avoiding personnel going to the site and effectively ensuring the safety and health of the personnel.
The purpose of the invention is realized by the following technical scheme: an intelligent loading system based on laser radar scanning modeling measurement comprises a laser radar measuring module, a sales management module and an unattended weighing module;
the sales management module generates information to be weighed and transmits the information to be weighed to the laser radar measuring module;
the laser radar measuring module detects the volume of goods on the vehicle in a scanning, modeling and identifying mode;
the unattended weighing module is used for weighing a vehicle with goods and assisting the laser radar vehicle module to weigh.
Further, when the intelligent loading system based on laser radar scanning modeling measurement works, the method comprises the following steps:
s1, when a vehicle is parked at a loading weighing position, scanning the vehicle and a carriage by adopting a laser radar to obtain cloud data of the vehicle and the carriage, namely obtaining a model of the vehicle, and obtaining the length, width and height of the carriage and the distance between a front railing panel and a rear railing panel;
s2, determining the placement position of the vehicle by taking pictures around the vehicle;
s3, loading, wherein the vehicle gradually moves forwards during loading, so that the carriage is loaded from the front to the rear;
during charging, simultaneously measuring the material by adopting a laser radar in the front-back direction and a laser radar in the left-right direction to obtain the upper surface contour line of the material;
the contour line of the upper surface of the material is compared with the height of a carriage breast board, when the material at the front part of the carriage reaches the height of the breast board, the vehicle gradually moves forwards to charge the rear part of the carriage;
and S4, when the height of the material of the vehicle is consistent with that of the breast board, weighing the material through the unattended weighing module.
Further, the sales management module determines the height of the breast board and the volume and weight of the discharged materials according to the generated weighing information, and comprises the following steps:
establishing a sales order, generating a corresponding logistics order, and finally forming an electronic goods picking code and sending the electronic goods picking code to a mobile terminal of a driver;
and (4) the driver reaches a loading point to scan the codes, and if the scanned information is consistent with the materials to be loaded, the driver is prompted to load the vehicle to the corresponding lane.
Further, when the laser measuring module works, the method comprises the following steps:
s101, scanning a vehicle and a carriage through a laser radar to obtain point cloud data of the vehicle and the carriage;
s102, processing point cloud data of the vehicle by adopting a feature calibration algorithm of a modeling picture, generating a vehicle model, and calibrating the shape feature of the vehicle;
s103, processing the point cloud data of the carriage and the carriage sideboard by adopting a point cloud data filtering and classifying algorithm, and calibrating the characteristics of the carriage and the carriage sideboard, namely calibrating the length, the width and the height of the carriage and the distance between the front and the rear sideboard of the carriage;
and S104, combining the characteristic calibration of the step S102 and the data characteristic calibration of the step S100 to form sample training, and finally outputting a recognition result.
Further, in step S101, scanning is performed along the front-back direction, the left-right direction, and the vertical up-down direction, respectively.
Further, the step S102 includes the following processing steps:
carrying out binarization, denoising, slope correction, character cutting and normalization processing on the obtained vehicle point cloud data to finally obtain a processed standard vehicle model;
and calibrating the model and the size characteristics of the vehicle.
Further, the step S103 includes the following steps:
filtering point cloud data, removing obviously defective data, and reserving continuous data with small difference;
classifying the data, that is, obtaining multiple kinds of data at a time point, classifying the same data, calibrating and giving each data meaning.
Further, when the unattended weighing module works, the method comprises the following steps:
continuously weighing the empty vehicles and the loaded vehicles to obtain the weight of the materials;
caching the weight of the material, automatically printing a document, and returning data back to the posting account;
and (4) turning on a gate/voice/LED lamp to prompt the driver to leave.
Optionally, the device further comprises emptying equipment and a camera;
the discharging equipment is arranged above the material containing lane through a support frame, and the materials fall into the carriage during discharging;
the laser radar vehicle module is arranged on the support frame and comprises a laser radar for measuring displacement in the front-back direction, a laser radar for measuring displacement in the left-right direction and a laser radar for measuring displacement in the up-down direction, and the laser radar, the laser radar for measuring displacement in the up-down direction and the laser radar for measuring length, width and height respectively;
and the positioning camera is used for capturing the position of the vehicle.
Furthermore, the gravity sensing part of the unattended weighing module is arranged on a lane for containing materials; unmanned on duty weighing module still include the camera of preventing practising fraud, shoot when the loading in-process, avoid driver's cheating.
The invention has the following advantages:
by firstly loading the materials into corresponding volumes and then weighing, compared with the method of simply weighing or simply scanning by a radar, the loading speed and efficiency are higher;
the whole charging and weighing is realized in an automatic mode, so that the labor cost is saved;
the judgment of automatic loading can effectively prevent misloading or multi-loading, and is beneficial to management;
automatic charging is realized, and different personnel can reach the site, so that the adverse effect of dust on the safety and health of the personnel is avoided;
through the loading mode of two-dimensional scanning, the data operand of the whole system is small.
Drawings
FIG. 1 is a flow chart of the process of the lidar measurement module and the unattended weighing module of the present invention;
FIG. 2 is a flow chart of a lidar measurement module process;
FIG. 3 is a flow chart of a sales management module process;
FIG. 4 is an architectural diagram of the present invention;
FIG. 5 is a set of data points for scanning the width of a car with radar;
FIG. 6 is a data point level set for a radar scanning material from left to right when loading material;
FIG. 7 is a data point level set for a radar scanning material from a front to back direction while loading the material.
Detailed Description
The invention will be further described with reference to the accompanying drawings, but the scope of protection of the invention is not limited to the following.
As shown in fig. 4, an intelligent loading system based on laser radar scanning modeling measurement comprises a laser radar measurement module, a sales management module and an unattended weighing module; the sales management module generates information to be weighed and transmits the information to be weighed to the laser radar measuring module; the laser radar measuring module detects the volume of goods on the vehicle in a scanning, modeling and identifying mode; the unattended weighing module is used for weighing a vehicle filled with goods and assisting the laser radar vehicle module to weigh.
In this scheme, it should be noted that before loading and weighing, the sales management module is required to generate information to be weighed.
This scheme, as shown in fig. 3, when sales management module is working: establishing a sales order through a WEB terminal, generating a logistics order, and pushing the logistics order to a driver mobile terminal so as to generate a goods picking two-dimensional code; when a driver arrives at a factory, the mobile phone picking two-dimensional code is taken out for scanning, the materials (bulk materials and bagged products) are distinguished by comparing with order data after the bin product codes and the picking two-dimensional code are scanned, and the driver is informed whether to enter the correct bin or not through the prompting LED and voice of the unattended weighing module. If the vehicle weight is correct, the entrance guard gate of the unattended weighing module is opened to signal a driver to scale and weigh the tare and prepare to start loading.
In this scheme, as shown in fig. 1 and fig. 2, during loading and weighing: the method comprises the following steps:
s1, when a vehicle is parked at a loading weighing position, scanning the vehicle and a carriage by adopting a laser radar to obtain cloud data of the vehicle and the carriage, namely obtaining a model of the vehicle, and obtaining the length, width and height of the carriage and the distance between a front railing panel and a rear railing panel;
s101, scanning a vehicle and a compartment through a laser radar to obtain point cloud data of the vehicle and the compartment;
s102, processing point cloud data of the vehicle by adopting a feature calibration algorithm of a modeling picture, generating a vehicle model, and calibrating the shape feature of the vehicle;
s103, processing the point cloud data of the carriage and the carriage sideboard by adopting a point cloud data filtering and classifying algorithm, and calibrating the characteristics of the carriage and the carriage sideboard, namely calibrating the length, the width and the height of the carriage and the distance between the front and the rear sideboard of the carriage;
s104, combining the characteristic calibration of the step S102 and the data characteristic calibration of the step S100 to form sample training, and finally outputting a recognition result;
as shown in fig. 5, the laser radar starts scanning modeling measurement, the vehicle is modeled by acquiring point cloud data of the laser radar through intelligent recognition software, and correct recognition is performed on the vehicle body, the compartment side rail and the compartment of the vehicle by using a feature calibration algorithm and a point cloud data filtering classification algorithm of a modeling picture, and length, width, height and size data corresponding to the compartment and distance data between the radar and a material port are measured at the same time (attached flow chart). And the measurement data is told to the PLC control system, the control system positions the placing position of the vehicle on the loadometer scale according to the position of the material port and the distance data of the laser radar, and whether the vehicle is placed correctly or not is prompted through a prompting module LED or voice of the unattended system, and whether the vehicle can be loaded or unloaded is judged. When loading is started, an anti-cheating module of the unattended system can capture and cache images, and the laser radar continuously models and measures position and size data of materials (bulk materials and bagged products) in a carriage;
s2, determining the placement position of the vehicle by capturing pictures around the vehicle;
s3, loading, wherein the vehicle gradually moves forwards during loading, so that the carriage is loaded from the front to the rear;
during charging, simultaneously measuring the material by adopting a laser radar in the front-back direction and a laser radar in the left-right direction to obtain the upper surface contour line of the material;
the contour line of the upper surface of the material is compared with the height of a carriage breast board, when the material in the front of the carriage reaches the height of the breast board, the vehicle gradually moves forwards to charge the rear part of the carriage;
and S4, when the height of the material of the vehicle is consistent with that of the breast board, weighing the material through the unattended weighing module.
As shown in fig. 6 and 7, the following description is continued for step S3 and step S4: measured data of the laser radar are spitted to the PLC control module and compared with existing carriage sideboard height data to control the moving position of the belt material distributor or prompt the distance of the moving position of a vehicle, so that materials (bulk materials and bagged products) are prevented from falling out of the carriage. Meanwhile, the unattended weighing module continuously acquires real-time data and order data for comparison, when the order data volume is reached or the tail of a material port of a rear breast board of the vehicle is measured through a laser radar, the PLC control module closes a valve or shuts down a belt material distributor, then the unattended weighing module automatically records weight or quantity data and the anti-cheating module takes a candid photograph of the periphery of the vehicle for data processing, automatically prints a transaction document (a pound order or a delivery order), simultaneously transmits the related weight or quantity data and the picture back to the sales management module, then the unattended system prompts the LED and voice of the module, and the vehicle access barrier is opened to inform a driver of leaving after the loading is finished.
In this embodiment, in step S101, scanning is performed along the front-back direction, the left-right direction, and the vertical up-down direction, respectively.
In this embodiment, step S102 includes the following processing steps: carrying out binarization, denoising, slope correction, character cutting and normalization processing on the obtained vehicle point cloud data to finally obtain a processed standard vehicle model; and calibrating the model and the size characteristics of the vehicle.
In this embodiment, step S103 includes the following steps: filtering the point cloud data, removing obviously defective data, and reserving continuous data with small difference; classifying data, namely, simultaneously acquiring multiple kinds of data at a time point, classifying the same kind of data, calibrating and giving the meaning of each kind of data.
The unattended weighing module needs to be used for weighing the empty vehicles and the loaded vehicles continuously to obtain the weight of the materials when the unattended weighing module works.
Optionally, the intelligent loading system based on laser radar scanning modeling measurement further comprises a material placing device and a camera.
Specifically, the emptying equipment is arranged above a lane for containing materials through a support frame, and the materials drop in a carriage during emptying. The laser radar vehicle module is arranged on the support frame and comprises a laser radar for measuring displacement in the front-back direction, a laser radar for measuring displacement in the left-right direction and a laser radar for measuring displacement in the up-down direction, and the laser radar for measuring displacement in the up-down direction and the three modules are used for measuring length, width and height data respectively; and meanwhile, positioning a camera for capturing the position of the vehicle.
In the embodiment of the market, the gravity sensing part of the unattended weighing module is arranged on a lane for containing materials; the unattended weighing module further comprises an anti-cheating camera, and when the vehicle is loaded, shooting is carried out, so that cheating of a driver is avoided.
The above embodiments only represent preferred embodiments, and the description is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention.
Claims (10)
1. The utility model provides an intelligence loading system based on laser radar scanning modeling measurement which characterized in that: the system comprises a laser radar measuring module, a sales management module and an unattended weighing module;
the sales management module generates information to be weighed and transmits the information to be weighed to the laser radar measuring module;
the laser radar measuring module detects the volume of goods on the vehicle in a scanning, modeling and identifying mode;
the unattended weighing module is used for weighing a vehicle with goods and assisting the laser radar vehicle module to weigh.
2. The intelligent loading system based on laser radar scanning modeling measurement according to claim 1, characterized in that: when in work, the method comprises the following steps:
s1, when a vehicle is parked at a loading weighing position, scanning the vehicle and a carriage by adopting a laser radar to obtain cloud data of the vehicle and the carriage, namely obtaining a model of the vehicle, and obtaining the length, width and height of the carriage and the distance between a front railing panel and a rear railing panel;
s2, determining the placement position of the vehicle by taking pictures around the vehicle;
s3, loading, wherein the vehicle gradually moves forwards during loading so as to load the carriage from the front to the rear;
during charging, simultaneously measuring the material by adopting a laser radar in the front-back direction and a laser radar in the left-right direction to obtain the upper surface contour line of the material;
the contour line of the upper surface of the material is compared with the height of a carriage breast board, when the material at the front part of the carriage reaches the height of the breast board, the vehicle gradually moves forwards to charge the rear part of the carriage;
and S4, when the height of the material of the vehicle is consistent with that of the breast board, weighing the material through the unattended weighing module.
3. The intelligent loading system based on laser radar scanning modeling measurement according to claim 2, characterized in that: the sales management module determines the height of the breast board and the volume and weight of the discharged materials according to the generated weighing information;
the sales management module comprises the following steps:
establishing a sales order, generating a corresponding logistics order, and finally forming an electronic goods picking-up code and sending the electronic goods picking-up code to a mobile terminal of a driver;
and (5) the driver reaches a loading point to sweep the code, and if the swept information is consistent with the material to be loaded, the driver is prompted to arrive at a corresponding lane to load the vehicle.
4. The intelligent loading system based on laser radar scanning modeling measurement according to claim 2, characterized in that: when the laser measuring module works, the method comprises the following steps:
s101, scanning a vehicle and a compartment through a laser radar to obtain point cloud data of the vehicle and the compartment;
s102, processing point cloud data of the vehicle by adopting a characteristic calibration algorithm of a modeling picture, generating a vehicle model, and calibrating the shape characteristic of the vehicle;
s103, processing the point cloud data of the carriage and the carriage sideboard by adopting a point cloud data filtering and classifying algorithm, and calibrating the characteristics of the carriage and the carriage sideboard, namely calibrating the length, the width and the height of the carriage and the distance between the front and the rear sideboard of the carriage;
and S104, combining the characteristic calibration of the step S102 and the data characteristic calibration of the step S100 to form sample training, and finally outputting a recognition result.
5. The intelligent loading system based on laser radar scanning modeling measurement according to claim 4, wherein: in step S101, scanning is performed along the front-back direction, the left-right direction, and the vertical up-down direction, respectively.
6. The intelligent loading system based on laser radar scanning modeling measurement according to claim 4, wherein: the step S102 includes the following steps:
carrying out binarization, denoising, slope correction, character cutting and normalization processing on the obtained vehicle point cloud data to finally obtain a processed standard vehicle model;
and calibrating the model and the size characteristics of the vehicle.
7. The intelligent loading system based on laser radar scanning modeling measurement according to claim 4, wherein: the step S103 includes the following steps:
filtering point cloud data, removing obviously defective data, and reserving continuous data with small difference;
classifying data, namely, simultaneously acquiring multiple kinds of data at a time point, classifying the same kind of data, calibrating and giving the meaning of each kind of data.
8. The intelligent loading system based on laser radar scanning modeling measurement according to claim 2, characterized in that: the unattended weighing module works, and comprises the following steps:
continuously weighing the empty vehicles and the loaded vehicles to obtain the weight of the materials;
caching the weight of the material, automatically printing a document, and returning data back to the posting account;
and (4) turning on a gate/voice/LED lamp to prompt the driver to leave.
9. The intelligent loading system based on laser radar scanning modeling measurement according to claim 1, characterized in that: the device also comprises emptying equipment and a camera;
the discharging equipment is arranged above the material containing lane through a support frame, and the materials fall into the carriage during discharging;
the laser radar vehicle module is arranged on the support frame and comprises a laser radar for measuring displacement in the front-back direction, a laser radar for measuring displacement in the left-right direction and a laser radar for measuring displacement in the up-down direction, and the laser radar, the laser radar for measuring displacement in the up-down direction and the laser radar for measuring length, width and height respectively;
and the positioning camera is used for capturing the position of the vehicle.
10. The intelligent loading system based on laser radar scanning modeling measurement according to claim 1 or 9, characterized in that: the gravity sensing part of the unattended weighing module is arranged on a lane for containing materials;
unmanned on duty weighing module still include the camera of preventing practising fraud, shoot when the loading in-process, avoid driver's cheating.
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| CN202210823693.9A CN115205458A (en) | 2022-07-13 | 2022-07-13 | Intelligent loading system based on laser radar scanning modeling measurement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115984278A (en) * | 2023-03-20 | 2023-04-18 | 四川吉埃智能科技有限公司 | Loading stacking planning method and system based on full-characteristic information of vehicle to be loaded |
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2022
- 2022-07-13 CN CN202210823693.9A patent/CN115205458A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115984278A (en) * | 2023-03-20 | 2023-04-18 | 四川吉埃智能科技有限公司 | Loading stacking planning method and system based on full-characteristic information of vehicle to be loaded |
| CN115984278B (en) * | 2023-03-20 | 2023-07-07 | 四川吉埃智能科技有限公司 | Loading and stacking planning method and system based on full-feature information of vehicle to be loaded |
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