CN207511464U - A kind of lorry automatic loading system based on machine vision - Google Patents
A kind of lorry automatic loading system based on machine vision Download PDFInfo
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- CN207511464U CN207511464U CN201721415739.4U CN201721415739U CN207511464U CN 207511464 U CN207511464 U CN 207511464U CN 201721415739 U CN201721415739 U CN 201721415739U CN 207511464 U CN207511464 U CN 207511464U
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- machine
- telescopic machine
- manipulator ontology
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Abstract
The utility model discloses a kind of lorry automatic loading systems based on machine vision；Including moveable telescopic machine, the 3D cameras of connection visual identifying system, the camera support for being used to fix 3D cameras above telescopic machine leading portion, manipulator ontology, the robot system that visual identifying system feedack is passed to the action of control machinery hand ontology, the trolley for carrying the movement of manipulator ontology；The end of manipulator ontology is equipped with sucker clamp, and sucker clamp is used for goods handling to telescopic machine.The end of manipulator ontology is equipped with sucker clamp, and sucker clamp is used for goods handling to telescopic machine.In operation process, to consolidate manipulator ontology, trolley is fixed on to the side of telescopic machine end, is moved under the drive of telescopic machine；If encountering unreachable position when manipulator ontology is in operation, trolley fixed position before and after telescopic machine is adjusted, until manipulator ontology can be operated in job area.
Description
Technical field
The utility model is related to lorry loading system more particularly to a kind of lorry automatic loading systems based on machine vision
System.
Background technology
In the industrial production, in modern enterprise logistics, lorry container entrucking one of which important link, container is
A kind of steel tank by standard specification design, and container packing is that kinds of goods are deposited in by certain pile type in compartment, at present this
The standardized work of one link need to be improved.Due to lorry vehicle difference, kinds of goods different sizes, entrucking requirement it is changeable etc. because
Element, at present mainly by being accomplished manually.And when using manual work, worker will face the high temperature in compartment, and dust atmosphere is brought
Occupational disease, not only labor intensity is big, short time consumption is long, boxing efficiency is low, is also possible to damage kinds of goods, and in small space
Carry and face higher security risk with the worker of stacking operation, the above factor can all influence the entrucking of materials circulation
Efficiency.Therefore the logistic efficiency that enterprise will be greatly improved in the operating type of automation is realized to this link, reduces enterprise at this
The various losses of one link.
Invention content
It is a kind of based on machine vision the purpose of the utility model is to overcome the shortcomings that the above-mentioned prior art and deficiency, providing
Lorry automatic loading system；It realizes that container type cargo works from production line to the automatic loading of boxcar, mitigates worker
Workload, improve materials circulation efficiency.
The utility model is achieved through the following technical solutions：
A kind of lorry automatic loading system based on machine vision, including moveable telescopic machine 3, connection visual recognition line
The 3D cameras 1 of system, manipulator ontology 4, are incited somebody to action at the camera support 2 for being used to fix 3D cameras 1 above 3 leading portion of telescopic machine
Visual identifying system feedack passes to the robot system of the action of control machinery hand ontology 4, for carrying manipulator sheet
The trolley 6 that body 4 moves；
The end of the manipulator ontology 4 is equipped with sucker clamp 5, and sucker clamp 5 is used for goods handling to telescopic machine 3
On.The end of the manipulator ontology 4 is equipped with sucker clamp 5, and sucker clamp 5 is used for goods handling to telescopic machine 3.
In operation process, to make manipulator ontology 4 firm, trolley 6 is fixed on to the side of 3 end of telescopic machine, flexible
It is moved under the drive of machine 3；If encountering unreachable position when manipulator ontology 4 is in operation, trolley 6 is adjusted in telescopic machine 3
Front and rear fixed position, until manipulator ontology 4 can be operated in job area.
The bottom of the telescopic machine 3 is equipped with idler wheel.
The telescopic machine 3 be telescopic conveyor, length 18m.
A kind of lorry automatic loading method based on machine vision, includes the following steps：
Lorry is moved backward into position, and is docked with feeding table level；
Telescopic machine 3 is in stretching state, and the end entered to inside boxcar is pushed together with the trolley 6 being fixed thereon
Position；The beginning of telescopic conveyor is placed into, and be delivered to end with the cargo carried, the product installed on end device in place
After detecting cargo arrival information, telescopic conveyor stop motion is controlled；
3D cameras collect the image information of cargo, pass to vision system, vision system by Stereo matching, image at
After reason, image segmentation, target feature point calculate, cargo posture information, and incoming robot system are obtained, machinery is determined to control
The crawl position of hand ontology 4；Manipulator ontology 4 is located at the cargo of 3 end of telescopic machine by the crawl of sucker clamp 5, and according to rule
The stacking path pulled carries out cargo vanning work；
In cargo binning process, before changing on trolley 6 manipulator ontology 4 by adjusting the length of telescopic machine 3
Position afterwards makes it case in effective working range, often completes the stacking of a fixed bed, and telescopic machine 3 will be retreated to next
Operating area is so repeated up to the cargo vanning work for completing vehicle.
The utility model is had the following advantages and effect relative to the prior art：
The mode that the utility model is combined using manipulator with trolley so that manipulator can move freely, and flexibly fill
Case；Fixed 3D cameras are housed in the end of telescopic machine, can automatic identification detection case posture, be compared to man efficiency it is high and
Accurate positioning；Arm end executive device uses multiple vacuum cups, can reliable and stable absorption babinet, compared to it is artificial to the greatest extent
The probability of the deformation or damage in handling process is may be decreased.
Description of the drawings
Fig. 1 is lorry automatic loading system general structure schematic diagram of the utility model based on machine vision.
Fig. 2 is the manipulator ontology partial structural diagram of trolley described in the utility model and its carrying.
When Fig. 3 transports goods for the utility model, status diagram when lorry, feeding table dock.
Fig. 4 is the utility model visual identifying system and robot system schematic diagram.
Specific embodiment
The utility model is more specifically described in detail with reference to specific embodiment.
Embodiment
As shown in Figures 1 to 4.The utility model discloses a kind of lorry automatic loading system based on machine vision, including
Moveable telescopic machine 3, the 3D cameras 1 for connecting visual identifying system, above 3 leading portion of telescopic machine for fixing 3D phases
Visual identifying system feedack is passed to control machinery hand ontology 4 and acts by the camera support 2 of machine 1, manipulator ontology 4
Robot system, for carry manipulator ontology 4 movement trolley 6；Robot system includes switch board, industrial personal computer, PC etc..
The end of the manipulator ontology 4 is equipped with sucker clamp 5, and sucker clamp 5 is used for goods handling to telescopic machine 3
On.The end of the manipulator ontology 4 is equipped with sucker clamp 5, and sucker clamp 5 is used for goods handling to telescopic machine 3.
In operation process, to make manipulator ontology 4 firm, trolley 6 is fixed on to the side of 3 end of telescopic machine, flexible
It is moved under the drive of machine 3；If encountering unreachable position when manipulator ontology 4 is in operation, trolley 6 is adjusted in telescopic machine 3
Front and rear fixed position, until manipulator ontology 4 can be operated in job area.
The bottom of the telescopic machine 3 is equipped with idler wheel.
The telescopic machine 3 be telescopic conveyor, length 18m.
A kind of lorry automatic loading method based on machine vision, includes the following steps：
Lorry is moved backward into position, and is docked with feeding table level；
Telescopic machine 3 is in stretching state, and the end entered to inside boxcar is pushed together with the trolley 6 being fixed thereon
Position；The beginning of telescopic conveyor is placed into, and be delivered to end with the cargo carried, the product installed on end device in place
After detecting cargo arrival information, telescopic conveyor stop motion is controlled；
3D cameras collect the image information of cargo, pass to vision system, vision system by Stereo matching, image at
After reason, image segmentation, target feature point calculate, cargo posture information, and incoming robot system are obtained, machinery is determined to control
The crawl position of hand ontology 4；Manipulator ontology 4 is located at the cargo of 3 end of telescopic machine by the crawl of sucker clamp 5, and according to rule
The stacking path pulled carries out cargo vanning work；
In cargo binning process, before changing on trolley 6 manipulator ontology 4 by adjusting the length of telescopic machine 3
Position afterwards makes it case in effective working range, often completes the stacking of a fixed bed, and telescopic machine 3 will be retreated to next
Operating area is so repeated up to the cargo vanning work for completing vehicle.
As described above, it can preferably realize the utility model.
The embodiment of the utility model is simultaneously not restricted to the described embodiments, other are any without departing from the utility model
Spirit Essence with made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in
Within the scope of protection of the utility model.
Claims (4)
1. a kind of lorry automatic loading system based on machine vision, it is characterised in that：Including moveable telescopic machine (3), even
Connect the 3D cameras (1) of visual identifying system, the camera branch for being used to fix 3D cameras (1) above telescopic machine (3) leading portion
Vision system feedack, is passed to the system of robot that control machinery hand ontology (4) acts at manipulator ontology (4) by frame (2)
System, the trolley (6) for carrying manipulator ontology (4) movement；
The end of the manipulator ontology (4) is equipped with sucker clamp (5), sucker clamp (5) for by goods handling to flexible
On machine (3).
2. the lorry automatic loading system based on machine vision according to claim 1, it is characterised in that：In operation process,
To make manipulator ontology (4) firm, trolley (6) is fixed on to the side of telescopic machine (3) end, under the drive of telescopic machine (3)
It is mobile；When manipulator ontology (4) is if encounter unreachable position in operation, adjustable trolley (6) is solid before and after telescopic machine (3)
Positioning is put, until manipulator ontology (4) can be operated in job area.
3. the lorry automatic loading system based on machine vision according to claim 2, it is characterised in that：The telescopic machine
(3) bottom is equipped with idler wheel.
4. the lorry automatic loading system based on machine vision according to claim 3, it is characterised in that：The telescopic machine
(3) it is telescopic conveyor, length 18m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721415739.4U CN207511464U (en) | 2017-10-30 | 2017-10-30 | A kind of lorry automatic loading system based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721415739.4U CN207511464U (en) | 2017-10-30 | 2017-10-30 | A kind of lorry automatic loading system based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207511464U true CN207511464U (en) | 2018-06-19 |
Family
ID=62534673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721415739.4U Expired - Fee Related CN207511464U (en) | 2017-10-30 | 2017-10-30 | A kind of lorry automatic loading system based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207511464U (en) |
-
2017
- 2017-10-30 CN CN201721415739.4U patent/CN207511464U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180619 Termination date: 20191030 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |