CN215159249U

CN215159249U - Container modeling system

Info

Publication number: CN215159249U
Application number: CN202121197930.2U
Authority: CN
Inventors: 张剑锋; 郭杰龙; 兰海; 李�杰; 俞辉; 邵东恒; 黄延辉; 刘缨杰
Original assignee: Quanzhou Institute of Equipment Manufacturing
Current assignee: Quanzhou Institute of Equipment Manufacturing
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2021-12-14
Anticipated expiration: 2031-05-31

Abstract

The utility model provides a container modeling system, the container is loaded on the freight train, including controlling means, be located the planer-type support of coplanar with the freight train, the setting is at the flexible arm of gantry-type support top and downwardly extending, detachably sets up at the spacing frame of flexible arm lower extreme and can dismantle and rotationally set up the solid state laser radar at flexible arm lower extreme, solid state laser radar is located spacing frame, solid state laser radar and controlling means communication connection, distance between solid state laser radar and the container is greater than L, and when flexible arm stretches out downwards, distance between the axis of solid state laser radar's scanning range and the container axis is less than K, so that all regions in the container can be scanned to solid state laser radar. The utility model discloses a solid-state laser radar, mounting structure is simple, but effectively guarantees laser radar's stability, and saves space.

Description

Container modeling system

Technical Field

The utility model relates to a container modeling system.

Background

The container packing operation is an operation of loading goods into a container, and it is necessary to estimate container position information and geometric information in advance during the loading process. The current container packing operation method comprises the following three steps:

(1) manual loading: all adopt manpower loading.

(2) Semi-manual loading: the goods are transported into the box by a fork-type loading and unloading vehicle and then manually stacked.

(3) Full mechanical loading: all adopt mechanical vanning, through tray, fork truck in the incasement heap dress.

The method (3) is the most ideal method, reduces the repeated labor time compared with the first two methods, lightens the labor intensity, has higher loading and unloading efficiency, and can greatly reduce the goods damage accidents. But the loading efficiency is more dependent on experienced forklift drivers, with serious consequences in the event of a cargo damage accident.

The container packing operation needs an auxiliary device which can help a forklift driver to judge the internal dimension information of the container, and the loading and unloading operation is convenient. And the container three-dimensional model is obtained through the three-dimensional modeling scheme so as to quickly and accurately acquire the container information, so that the method is an effective scheme. In the prior art, scanning is performed in a mode of adding a holder or a 3D laser radar to a 2D laser radar, and three-dimensional modeling is performed according to a scanning result, but the working principle and the installation structure of the method cannot cover a visual field area, or are too complex, or cannot enable the laser radar to be stable, so that the three-dimensional modeling precision is affected.

SUMMERY OF THE UTILITY MODEL

The utility model provides a container modeling system adopts solid-state laser radar, and mounting structure is simple, nevertheless effectively guarantees laser radar's stability, and saves space.

The utility model discloses a following technical scheme realizes:

the utility model provides a container modeling system, the container loading is on the freight train, including controlling means, be located the coplanar's portal frame with the freight train, the setting is at portal frame top and downwardly extending's flexible arm, detachably sets up at the spacing frame of flexible arm lower extreme and can dismantle and nonrotatably set up the solid state laser radar at flexible arm lower extreme, solid state laser radar is located spacing frame, solid state laser radar and controlling means communication connection, distance between solid state laser radar and the container is greater than L, and when flexible arm stretches out downwards, the distance between the axis of solid state laser radar's scanning range and the container axis is less than K, so that all regions in the container can be scanned to solid state laser radar.

Furthermore, the gantry support comprises two side supports, a cross beam arranged between the tops of the two side supports and rotating wheels respectively arranged at the bottoms of the two side supports, and the upper end of the telescopic arm is detachably arranged on the cross beam.

Further, the value of K is 30 cm.

Further, the value of L is 6 m.

Further, when the telescopic arm retracts upwards, the distance between the solid-state laser radar and the plane is larger than the distance between the container and the plane, and the width of the cross beam is larger than that of the truck.

Furthermore, spacing frame is including setting up the dull and stereotyped and the interval setting of arm lower extreme on the flat board and two risers of downwardly extending, solid-state laser radar can dismantle the setting on the flat board and be located between two risers.

Further, the control device comprises a portable computer or an embedded development board.

The utility model discloses following beneficial effect has:

1. the solid laser radar of the utility model scans the inside of the container, transmits the scanning result to the control device, carries out point cloud processing by the control device to carry out three-dimensional modeling, ensures that the solid laser radar can scan all areas in the container by setting the distance between the solid laser radar and the container and the distance between the central axis of the scanning range of the solid laser radar and the central axis of the container, thereby ensuring the precision of the three-dimensional modeling, and moreover, the mounting mechanism of the solid laser radar comprises a gantry support and a telescopic arm, has simple structure, and a limit frame can avoid the solid laser radar from micro-rotating in the using process, thereby ensuring the stability of the laser radar, further improving the modeling precision, on the other hand, when the scanning is needed, the control device controls the mechanical arm to extend downwards, and when the other time is needed, the mechanical arm retracts upwards, the height of the gantry support is reduced by the design of the gantry and the telescopic arm, so that the truck loaded with the container can pass through the gantry, and the space occupied by the mounting structure is saved.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a left side view of fig. 1.

Wherein, 1, container; 2. a truck; 31. a side bracket; 32. a cross beam; 33. a rotating wheel; 4. a telescopic arm; 51. a flat plate; 52. a vertical plate; 6. solid state lidar.

Detailed Description

As shown in fig. 1 and 2, the container modeling system is used for scanning the inside of the container 1, and performing three-dimensional modeling according to the scanning result to feed back the inside condition of the container 1 to the operating personnel performing the packing operation in real time, wherein the container 1 is loaded on the truck 2, the modeling system comprises a control device, a gantry support located on the same plane (such as the ground) as the truck 2, a telescopic arm 4 arranged on the top of the gantry support and extending downwards, a limit frame detachably arranged at the lower end of the telescopic arm 4, and a solid state laser radar 6 detachably and non-rotatably arranged at the lower end of the telescopic arm 4, the solid state laser radar 6 is located in the limit frame, the solid state laser radar 6 is in communication connection with the control device, the distance between the solid state laser radar 6 and the container 1 is greater than L, and when the telescopic arm 4 extends downwards, the distance between the central axis of the scanning range of the solid state laser radar 6 and the central axis 1 of the container is less than K, so that the solid state lidar 6 can scan all areas within the container 1. The specific process of the control device performing three-dimensional modeling according to the scanning result of the solid-state laser radar 6 is the prior art. The process of the control device driving the telescopic arm 4 to extend downwards to a designated position and retract upwards is also prior art.

The gantry support comprises two side supports 31, a cross beam 32 arranged between the top ends of the two side supports 31 and rotating wheels 33 respectively arranged at the bottoms of the two side supports 31, and the upper end of the telescopic arm 4 is detachably arranged on the cross beam 32. When the telescopic arm 4 retracts upwards, the distance between the solid-state laser radar 6 and the ground is larger than the distance between the container 1 and the ground, and the width of the cross beam 32 is larger than that of the truck 2, so that the truck 2 loaded with the container 1 can smoothly pass through the gantry support.

In this embodiment, spacing frame includes that the upper end passes through bolt detachably to be fixed at the dull and stereotyped 51 of flexible arm lower extreme to and the interval sets up at dull and stereotyped 51 lower extreme and two risers 52 of downwardly extending, and solid-state lidar 6 passes through bolt detachably and sets up at dull and stereotyped 51 lower extreme, and is located between two risers 52, and two risers 52 then are used for avoiding solid-state lidar 6 at the slight rotation of scanning in-process.

In this embodiment, K is 30cm, L is 6m, and the solid-state laser radar 6 is specifically a Livox Horizon laser detection range finder. The control device is a portable computer.

The above description is only a preferred embodiment of the present invention, and therefore the scope of the present invention should not be limited thereby, and all equivalent changes and modifications made within the scope of the claims and the specification should be considered within the scope of the present invention.

Claims

1. The utility model provides a container modeling system, container loading is on freight train which characterized in that: including controlling means, be located the coplanar longmen support with the freight train, the setting is at longmen support top and downwardly extending's flexible arm, detachably sets up at the spacing frame of flexible arm lower extreme and can dismantle and nonrotatably set up the solid state laser radar at flexible arm lower extreme, solid state laser radar is located spacing frame, solid state laser radar and controlling means communication connection, distance between solid state laser radar and the container is greater than L, and when flexible arm stretches out downwards, the distance between the axis of solid state laser radar's scanning range and the container axis is less than K, so that all regions in the container can be scanned to solid state laser radar.

2. The container modeling system of claim 1, wherein: the gantry support comprises two side supports, a cross beam arranged between the tops of the two side supports and rotating wheels respectively arranged at the bottoms of the two side supports, and the upper end of the telescopic arm is detachably arranged on the cross beam.

3. The container modeling system of claim 1, wherein: the value of K is 30 cm.

4. A container modelling system according to claim 1, 2 or 3 wherein: the value of L is 6 m.

5. A container modelling system according to claim 1, 2 or 3 wherein: when the telescopic arm retracts upwards, the distance between the solid laser radar and the plane is larger than the distance between the container and the plane, and the width of the cross beam is larger than that of the truck.

6. A container modelling system according to claim 1, 2 or 3 wherein: the limiting frame comprises a flat plate arranged at the lower end of the mechanical arm and two vertical plates which are arranged on the flat plate at intervals and extend downwards, and the solid laser radar is detachably arranged on the flat plate and located between the two vertical plates.

7. A container modelling system according to claim 1, 2 or 3 wherein: the control device comprises a portable computer or an embedded development board.