CN208868740U - A kind of automatic commander's workpiece Input System based on laser scanning - Google Patents
A kind of automatic commander's workpiece Input System based on laser scanning Download PDFInfo
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- CN208868740U CN208868740U CN201821400853.4U CN201821400853U CN208868740U CN 208868740 U CN208868740 U CN 208868740U CN 201821400853 U CN201821400853 U CN 201821400853U CN 208868740 U CN208868740 U CN 208868740U
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- workpiece
- storehouse
- laser
- laser scanning
- input system
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- 238000012545 processing Methods 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Abstract
One kind commanding workpiece Input System based on laser scanning automatically characterized by comprising laser scanner, for obtaining the two-dimensional coordinate information of workpiece surface；Laser range finder, for measuring workpiece at a distance from storehouse wall；Data processing end, the data sent for receiving the laser scanner and the laser range finder, calculates location information and directional information of the workpiece currently in storehouse, and calculate adjustment information；Car-mounted display end is installed on workpiece vehicle, obtains the adjustment information that data processing end is sent by wireless transport module.Workpiece commander's storage is carried out using the system, has the characteristics that precision is high, time-consuming short, improves the actual effect of workpiece commander's storage, save a large amount of manpower and material resources.
Description
Technical field
The utility model belongs to workpiece storage field, is especially put in storage system with a kind of automatic commander's workpiece based on laser scanning
System is related.
Background technique
Nowadays the production of all trades and professions all be unable to do without automation, and automated production manufacture and processing technology are to workpiece
Placement location proposes high request high standard.Workpiece storage is precisely parked in designated position and waits the technological operation of next step work pieces process
Play a significant role in industrial automation.
Conventional workpiece storage adjusts the location of workpiece by the exchange and cooperation with commanding dependent on vehicle driver
Whole, there are following some problems:
1, large-scale workpiece be easy to cause greatly the blind area of vehicle operator and commanding due to size, increases vehicle
The work difficulty and intensity of driver and commanding, expend a large amount of manpower and material resources；
2, workpiece present position judgement places one's entire reliance upon the visual determination of commanding, cannot obtain the accurate position of workpiece
It sets；
3, vehicle operator with it is restricted due to communication in commanding's communication exchange, workpiece cannot be obtained
Elaborate position；
4, the adjustment of the location of workpiece places one's entire reliance upon the visual determination of vehicle operator, can not achieve workpiece and precisely puts
It sets；
Therefore, exploitation is a can command the system that workpiece is put in storage automatically real-time, quickly, for improving workpiece warehouse-in efficiency
There is great help.
Utility model content
For above-mentioned prior art defect, automatic commander's workpiece storage based on laser scanning that the utility model proposes a kind of
System and method obtains the location information of current workpiece using laser scanner and laser range finder, by car-mounted display end in real time
Instruction vehicle is adjusted to reach specified region, driver only need to according to commander can complete independently workpiece accurate placement,
Greatly improve workpiece storage intelligence degree and storage precision.
The utility model uses following technology:
A kind of automatic commander's workpiece Input System based on laser scanning characterized by comprising
Laser scanner, for obtaining the two-dimensional coordinate information of workpiece surface；
Laser range finder, for measuring workpiece at a distance from storehouse wall；
Data processing end, the data sent for receiving the laser scanner and the laser range finder, calculating are gone to work
The current location information and directional information in storehouse of part, and calculate adjustment information；
Car-mounted display end is installed on workpiece vehicle, obtains the adjustment that data processing end is sent by wireless transport module
Information.
Further, the laser scanner forms a scan line on the surface surface of workpiece, and by scan line
Length is sent to data processing end.
Further, the data processing end calculates current workpiece according to the length of scan line and the local width of workpiece
Orientation angles；And the range data of the workpiece and storehouse wall sent in conjunction with the laser range finder, it calculates workpiece and currently exists
Location information and directional information in storehouse.
Further, the laser scanner is installed in storehouse, is located above workpiece positioning area, is arranged vertically downward, and
On the storage center line of workpiece positioning area.
Further, the laser scanner is located between storehouse entrance and the vertical center line of workpiece positioning area, described to hang down
Straight center line refers to the center line with storage central axis.
Further, the laser range finder is installed on the storehouse wall of storage direction face, horizontally toward storehouse entrance,
And it is located on the storage center line of workpiece positioning area.
Further, the Work mounting is on the workpiece vehicle.
Further, the laser scanner is two dimensional laser scanning instrument.
Further, the wireless transport module is based on GPRS wireless network and realizes data transmission.
The utility model the utility model has the advantages that
1, the current position of workpiece, directional information are obtained in real time using laser range finder and laser scanner, and pass through number
Combined Calculation is carried out according to the location information of workpiece positioning area according to processing end, is adjusted information, passes through wireless transport module reality
When be sent to car-mounted display end, whole process only needs vehicle operator can complete independently according to the commander at car-mounted display end
The accurate placement of workpiece will not be by vision dead zone, the shadow of visual determination error without the participation and assistance of other staff
It rings；
2, workpiece is quickly scanned in storehouse with contactless high-rate laser measurement method and ranging, data acquires
Speed is fast, density is high, precision is done, especially suitable for the biggish object of area, greatly improve the location of workpiece, directional information it is anti-
Present speed；
3, using the position design of laser scanner, surface forms a scan line right above workpiece, using sweeping
The data such as storage center line for retouching line length, workpiece local width, workpiece positioning area, are realized for current location information, direction
The resolving of information and the angle information, left and right adjustment information that need to adjust；And utilize the position design of laser range finder, root
Object is calculated at a distance from laser range finder according to the light velocity；
4, the data information of two dimensional laser scanning instrument and laser range finder is carried out Combined Calculation by data processing end, is obtained high
The workpiece direction of precision, location information；Data processing end get workpiece direction, location information and reference direction, reference
Location information carry out Combined Calculation, obtain adjustment information and be sent to car-mounted display end instruction vehicle operator be adjusted with
Specified region is reached, precision is high, effective good.
Detailed description of the invention
Fig. 1 is the system construction drawing of the utility model.
Fig. 2 is the system job schematic diagram of the utility model.
Fig. 3 is the workpiece vehicle adjustment schematic diagram one of the embodiments of the present invention.
Fig. 4 is the workpiece vehicle adjustment schematic diagram two of the embodiments of the present invention.
Fig. 5 is the workpiece vehicle adjustment schematic diagram three of the embodiments of the present invention.
Fig. 6 is the workpiece vehicle adjustment schematic diagram four of the embodiments of the present invention.
Fig. 7 is the working-flow figure of the utility model.
Specific embodiment
In order to keep the purpose, technical solution and specific implementation method of the application apparent, in conjunction with attached Example to this Shen
It please be further elaborated.
As shown in Figure 1, a kind of automatic commander's workpiece Input System based on laser scanning, comprising:
Laser scanner 101, for obtaining the two-dimensional coordinate information of 301 upper surface of workpiece；
Laser range finder 102, for measuring workpiece 301 at a distance from 200 wall of storehouse；
Data processing end 103, the data sent for receiving the laser scanner 101 and the laser range finder 102,
Location information and directional information of the workpiece 301 currently in storehouse 200 are calculated, and calculates adjustment information；
Car-mounted display end 105 is installed on workpiece vehicle 300, obtains data processing end by wireless transport module 104
103 adjustment information sent.
Specifically, the workpiece 301 is equipped on the workpiece vehicle 300.
Specifically, the laser scanner 101 forms a scan line on the surface surface of workpiece 301, and will sweep
The length for retouching line is sent to data processing end 103.
Specifically, the data processing end 103 calculates and works as according to the length of scan line and the local width of workpiece 301
Preceding workpiece orientation angles；And the range data of the workpiece 301 and 200 wall of storehouse sent in conjunction with the laser range finder 102, meter
Calculate the currently location information and directional information in storehouse 200 of workpiece 301.
As shown in Fig. 2, the laser scanner 101 is installed in storehouse 200, it is located at 201 top of workpiece positioning area, vertically
It is down-set, and be located on the storage center line of workpiece positioning area 201.The laser scanner 101 be located at 200 entrance of storehouse and
Between the vertical center line of workpiece positioning area 201, the vertical center line refers to the center line with storage central axis.
The laser range finder 102 is installed on 200 wall of storehouse of storage direction face, and horizontally toward storehouse 200 enters
Mouthful, and be located on the storage center line of workpiece positioning area 201.
Specifically, the laser scanner 101 with contactless high-rate laser measurement method in storehouse 200 to workpiece
301 are quickly scanned, and the two-dimensional coordinate of laser point contact surface is obtained.
Specifically, the laser range finder 102 launches a branch of very thin laser at work, by laser range finder 102
Electronic component receive the laser beam of target reflection, laser beam is measured from being emitted to by 102 internal timer of laser range finder
The received time calculates target at a distance from laser range finder 102 according to the light velocity.
Specifically, the data processing end 103, also has display module, is shown to location information and directional information.
Specifically, the laser scanner 101 is two dimensional laser scanning instrument.
Specifically, the wireless transport module 104, which is based on GPRS wireless network, realizes data transmission.
It is a kind of specific embodiment of the utility model as shown in Fig. 3 ~ 7, workflow is as follows:
Workpiece vehicle 300 equipped with workpiece 301 enters storehouse 200；
The scan line for obtaining 301 surface surface of workpiece in real time by laser scanning, obtains work by laser ranging in real time
Part 301 is at a distance from 200 wall of storehouse, 103 received scanline data of data processing unit and range data；
Data processing unit 103 is calculated according to the length and 301 local width of workpiece of current scan line when front direction is believed
Breath and the angle information for needing to adjust, as shown in figure 3, x-o-y is the coordinate system established with the center o point of workpiece positioning area 201,
X '-o '-y ' is the coordinate system established with the center o ' of workpiece 301 point, wherein workpiece 301 and be the direction in alignment, x ' is not
Parallel with x ,-y ' is not parallel with y, and o ' is not overlapped with o；In left and right during adjustment, driver drives process, needs again
It when the case where adjusting the angle, the step of adjustment according to aforementioned angular, is similarly adjusted, finally to reach left and right adjustment mesh
Subject to；
Car-mounted display end 105 receives the angle that the needs that data processing unit 103 is sent adjust by wireless transport module 104
Spend information, the angle for the angle information adjustment workpiece vehicle 300 that the driver of workpiece vehicle 300 shows according to car-mounted display end 105
Degree, keeps the front and rear side of workpiece 301 parallel with left and right sideline with the front and back sideline of workpiece positioning area 201 respectively with left and right side, completes
The direction of workpiece 301 adjusts, and reaches state as shown in Figure 4, x ' is parallel with x ,-y ' it is parallel with y；
Data processing unit 103 is according to the line segment midpoint of current scan line and the storage center of workpiece positioning area 201
The distance of line, the left and right adjustment information for calculating current left-right position information and needing to adjust；
Car-mounted display end 105 receives the left side that the needs that data processing unit 103 is sent adjust by wireless transport module 104
Right adjustment information, driver adjust the left and right distance of workpiece vehicle 300 according to left and right adjustment information, make the line segment midpoint of scan line
The storage center line of workpiece positioning area 201 is coincided with, the left and right adjustment of workpiece 301 is completed, reaches state as shown in Figure 5, x ' and x
It is overlapped ,-y ' is overlapped with y；
Data processing unit 103 is according to current workpiece 301 at a distance from 200 wall of storehouse and 201 front of workpiece positioning area
The front and back adjustment information that line calculates current front-rear position information at a distance from wall and needs to adjust；
Before car-mounted display end 105 is adjusted by the needs that wireless transport module 104 receives the transmission of data processing unit 103
Adjustment information afterwards adjusts the longitudinal separation of workpiece vehicle 300 according to front and back adjustment information, make the front and rear side of workpiece 301 respectively with
201 front and back sideline of workpiece positioning area is overlapped, and is completed the front and back adjustment of workpiece 301, is reached precise positioning state as shown in FIG. 6,
X ' is overlapped with x ,-y ' be overlapped with y ,-o ' be overlapped with o；
The commander's storage of workpiece 301 is completed.
Wherein, the laser scanning is swept by being installed in storehouse 200 and being located at the laser of 201 top of workpiece positioning area
The completion of instrument 101 is retouched, laser scanner 101 is arranged vertically downward, and is located on the storage center line of workpiece positioning area 201.
Wherein, the laser ranging is the laser range finder by being installed on 200 wall of storehouse of storage direction face
102 complete, horizontally toward 200 entrance of storehouse of laser range finder 102, and are located on the storage center line of workpiece positioning area 201.
Wherein, the directional information, angle information, left-right position information, left and right adjustment information, front-rear position information, preceding
Adjustment information is to calculate to obtain by the data processing end 103 connecting with laser scanner 101 and laser range finder 102 afterwards.
Wherein, car-mounted display end 105 is provided on the workpiece vehicle 300, data processing end 103 passes through wireless transmission mould
Block 104 sends angle information, left and right adjustment information and front and back adjustment information to car-mounted display end 105.
Whole process, only need vehicle operator according to car-mounted display end commander can complete independently workpiece precisely put
It sets, without the participation and assistance of other staff, will not be influenced by vision dead zone, visual determination error.
Claims (8)
1. a kind of automatic commander's workpiece Input System based on laser scanning characterized by comprising
Laser scanner (101), for obtaining the two-dimensional coordinate information of workpiece (301) upper surface；
Laser range finder (102), for measuring workpiece (301) at a distance from storehouse (200) wall；
Data processing end (103), the number sent for receiving the laser scanner (101) and the laser range finder (102)
According to calculating location information and directional information of the workpiece (301) currently in storehouse (200), and calculate adjustment information；
Car-mounted display end (105) is installed on workpiece vehicle (300), obtains data processing end by wireless transport module (104)
(103) adjustment information sent.
2. automatic commander's workpiece Input System according to claim 1 based on laser scanning, it is characterised in that:
The laser scanner (101) forms a scan line on the surface surface of workpiece (301), and by the length of scan line
Degree is sent to data processing end (103)；
The data processing end (103) calculates current workpiece side according to the local width of the length and workpiece (301) of scan line
Parallactic angle degree；And the range data of the workpiece (301) and storehouse (200) wall sent in conjunction with the laser range finder (102), it calculates
The current location information and directional information in storehouse (200) of workpiece (301) out.
3. automatic commander's workpiece Input System according to claim 1 based on laser scanning, which is characterized in that described to swash
Photoscanner (101) is installed in storehouse (200), is located above workpiece positioning area (201), is arranged vertically downward, and is located at work
On the storage center line of part positioning area (201).
4. automatic commander's workpiece Input System according to claim 3 based on laser scanning, which is characterized in that described to swash
Photoscanner (101) is located between storehouse (200) entrance and the vertical center line of workpiece positioning area (201), the vertical centre
Line refers to the center line with storage central axis.
5. automatic commander's workpiece Input System according to claim 1 based on laser scanning, which is characterized in that described to swash
Optar (102) is installed on storehouse (200) wall of storage direction face, horizontally toward storehouse (200) entrance, and is located at
On the storage center line of workpiece positioning area (201).
6. automatic commander's workpiece Input System according to claim 1 based on laser scanning, which is characterized in that the work
Part (301) is equipped on the workpiece vehicle (300).
7. automatic commander's workpiece Input System according to claim 1 based on laser scanning, which is characterized in that described to swash
Photoscanner (101) is two dimensional laser scanning instrument.
8. automatic commander's workpiece Input System according to claim 1 based on laser scanning, which is characterized in that the nothing
Line transmission module (104) is based on GPRS wireless network and realizes data transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821400853.4U CN208868740U (en) | 2018-08-29 | 2018-08-29 | A kind of automatic commander's workpiece Input System based on laser scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821400853.4U CN208868740U (en) | 2018-08-29 | 2018-08-29 | A kind of automatic commander's workpiece Input System based on laser scanning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208868740U true CN208868740U (en) | 2019-05-17 |
Family
ID=66466136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821400853.4U Withdrawn - After Issue CN208868740U (en) | 2018-08-29 | 2018-08-29 | A kind of automatic commander's workpiece Input System based on laser scanning |
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| Country | Link |
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| CN (1) | CN208868740U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861280A (en) * | 2018-08-29 | 2018-11-23 | 绵阳紫蝶科技有限公司 | A kind of automatic commander's workpiece Input System and method based on laser scanning |
-
2018
- 2018-08-29 CN CN201821400853.4U patent/CN208868740U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861280A (en) * | 2018-08-29 | 2018-11-23 | 绵阳紫蝶科技有限公司 | A kind of automatic commander's workpiece Input System and method based on laser scanning |
| CN108861280B (en) * | 2018-08-29 | 2024-04-26 | 曹成连 | Automatic command workpiece warehousing system and method based on laser scanning |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190517 Effective date of abandoning: 20240426 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190517 Effective date of abandoning: 20240426 |