CN105806563A - Intelligent auxiliary operation device and method for stone mine fork loading truck - Google Patents
Intelligent auxiliary operation device and method for stone mine fork loading truck Download PDFInfo
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- CN105806563A CN105806563A CN201610325953.4A CN201610325953A CN105806563A CN 105806563 A CN105806563 A CN 105806563A CN 201610325953 A CN201610325953 A CN 201610325953A CN 105806563 A CN105806563 A CN 105806563A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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Abstract
The invention provides an intelligent auxiliary operation device for a stone mine fork loading truck.The intelligent auxiliary operation device is arranged on the fork loading truck, and comprises an ARM main controller, a camera, at least two radars, a display screen and a red laser emitting device.The camera, the two radars, the display screen and the red laser emitting device are connected with the ARM main controller, and the camera is installed between pallet forks of the fork loading truck; the two radars are symmetrically installed on the two sides of the camera, and meanwhile the two radars and the camera are in the same height, and are parallel in central axis; the red laser emitting device is installed under the camera, lasers emitted by the red laser emitting device are parallel to the horizontal plane, and the camera, the two radars and the red laser emitting device can vertically move along the pallet forks of the fork loading truck.By means of the intelligent auxiliary operation device and method, the center-of-gravity shift phenomenon, caused by inaccurate estimation of an operator, of rough stone blocks is avoided.
Description
Technical field
The invention belongs to stone machining equipment field, be specifically related to the rough stone block intelligence less important work device and method of stone digging forklift truck.
Background technology
Forklift truck is the construction machinery product that loader segments market, and forklift truck integrates mechanical, electrical, instrument, liquid and digital information, it is efficient, energy-conservation to have, and intelligence, good cross-country ability use flexible, safe and reliable, cost performance advantages of higher.The scraper equipment of waste material, changes scraper bowl and can cut into a mountain for stone material mining area and repair the roads, the scraper mine surface layer earthwork, it is achieved its " dual-use " function.It is also used for occurring natural disaster area or wartime to remove the important use such as road roadblock and short distance scraper goods and materials.
Forklift truck is the stone material loading machinery utilizing basis, loader chassis to research and develop, and has the serviceability of loader and All-terrain Forklift concurrently, may replace fork truck, truck crane, excavator for stone digging famine stock ground handling famine material.During forklift truck handling stone digging famine material operation, owing to the volume of rough stone block, weight are all very big, operator are the substantially position of centre of gravitys judging roughly rough stone block by observing the shape of rough stone block in conjunction with experience, then carry out charge and discharge operations.But, time the operator that experience is enriched again also there will be error in judgement, especially for the new hand lacked experience.When the position of centre of gravity of rough stone block deviates the centre position of forklift truck, will cause that whole vehicle body left and right weight is uneven.This will increase operation easier to staff；When long-term unbalance stress, equipment and the hydraulic system of forklift truck are susceptible to fault, cause that service life shortens, and reduce the reliability of product, are greatly increased accident rate；And when the skew of rough stone block position of centre of gravity is bigger, can be easy to occur stone material to drop the danger such as even overturning.
Therefore; existing stone digging forklift truck intelligence degree is also not high; the shape and position of centre of gravity thereof for the treatment of handling rough stone block cannot be automatically identified; the experience of staff generally can only be relied on to judge; this often makes the position of centre of gravity of rough stone block offset the center of forklift truck; causing varying in weight about whole vehicle body, this will increase operation easier to staff.
Summary of the invention
One of the technical problem to be solved in the present invention, it is in that to provide a kind of stone digging forklift truck intelligence less important work device, utilize photographic head and radar as acquisition of information means, red laser discharger is as aiming at device, staff only needs striker fork entrucking according to the rules, just the position of centre of gravity treating handling rough stone block can relatively accurately be found, it is to avoid occur the phenomenon of rough stone block centre-of gravity shift to occur owing to operator estimates inaccurate.
One of problem of the present invention is achieved in that a kind of stone digging forklift truck intelligence less important work device, described device is arranged in forklift truck, and described device includes an ARM master controller, photographic head, at least two radar, a display screen and a red laser discharger；Described photographic head, two radars, display screen, red laser dischargers are all connected with described ARM master controller, and described photographic head is arranged on the pallet fork centre position of forklift truck；Two radars are symmetrically mounted at the both sides of photographic head, ensure that two radars and photographic head are in same height and the axis parallel of two radars and photographic head simultaneously；Red laser discharger is arranged on the underface of photographic head, it is on the center of forklift truck, the laser that red laser discharger is launched is parallel to horizontal plane, and described photographic head, two radars, red laser dischargers all can vertically move with the pallet fork of forklift truck up and down；The shape data treating handling rough stone block is obtained by photographic head and radar, the appearance profile image obtaining rough stone block is processed by ARM master controller, and the position of centre of gravity of rough stone block, then the contour images of rough stone block is shown in vehicle-carrying display screen, and focus on the heart at contour images subscript, mark the vertical line through center of gravity simultaneously；The center of forklift truck is marked by ARM master controller and red laser discharger; operator have only to adjust vehicle body make the center of forklift truck drop on treat handling rough stone block position of centre of gravity fall on; or the center making forklift truck is dropped on center of gravity vertical line, when so namely can ensure that pallet fork lifting rough stone block, keep barycentre steadiness.
Further, described device also includes an input equipment, and described input equipment is connected with described ARM master controller；Described input equipment includes: start key and stop key.
Further, acting as of described ARM master controller receives the information that radar and camera collection arrive, and information is processed, and draws the contour shape of rough stone block, it is judged that its position of centre of gravity is also marked on contour images and shows；
The effect of photographic head is the front elevation of shooting rough stone block, obtains out to the process of picture by ARM master controller, determines the front shape of rough stone block with this；
The effect of radar is the distance testing out camera imaging plane to stone material front, when radar surveying range error value in left and right meets set point requirement, namely showing that photographic head is perpendicular to stone surface, the picture of the rough stone block that now photographic head shooting obtains will not have distortion；
The effect of red laser discharger be mark forklift truck center just to position, when ARM master controller successfully judge until handling rough stone block position of centre of gravity after, it will open red laser discharger launch laser, photographic head can be started simultaneously；While laser is irradiated on rough stone block, photographic head will shoot the picture of lower rough stone block, ARM master controller draws the laser spots position data relative to rough stone block by processing, and mark laser spot position on the rough stone block contour images of display screen, now staff just can pass through the drift condition of vehicle-carrying display screen observation laser spot position and rough stone block position of centre of gravity, then adjusts forklift truck right position and makes forklift truck center drop on rough stone block center of gravity vertical line；
Display screen: operator observe the laser spot position treating that handling rough stone block contour images, the position of centre of gravity of rough stone block and video capture arrive by vehicle-carrying display screen.
Further, described device is further: after ARM master controller switches on power, the initialization of start program, initialization content includes: detection radar, photographic head, start key, stop key, red laser discharger and memorizer whether normal operation, load the inner parameter of photographic head afterwards, including focal length value and single pixel value；After initialization completes, program enters loitering phase, when forklift truck is adjusted the front just treating handling rough stone block by operator, press start key, now show that first time data acquisition is ready, program starts to call photographic head and radar collection data, after ARM master controller receives the data of collection, whether these data collected effectively can be done a judgement, when the first time data collected are effective, first time data can be stored in internal storage by ARM master controller, waits second time data acquisition；The process of second time data acquisition is the same with first time data acquisition；After collecting twice valid data, ARM master controller will the data that collect for twice of associating, carry out processing and draw the contour shape image treating handling rough stone block, and its position of centre of gravity showing in vehicle-carrying display screen；Radar and photographic head will be started afterwards, the center reference point position of mark forklift truck, while laser is irradiated on rough stone block, photographic head will shoot the picture of lower rough stone block, ARM master controller draws the laser spots position data relative to rough stone block by processing, and mark laser spot position on the rough stone block contour images of display screen, now staff just can pass through the drift condition of vehicle-carrying display screen observation laser spot position and rough stone block position of centre of gravity.
The two of the technical problem to be solved in the present invention, it is in that to provide a kind of stone digging forklift truck intelligence less important work method, utilize photographic head and radar as acquisition of information means, red laser discharger is as aiming at device, staff only needs striker fork entrucking according to the rules, just the position of centre of gravity treating handling rough stone block can relatively accurately be found, it is to avoid occur the phenomenon of rough stone block centre-of gravity shift to occur owing to operator estimates inaccurate.
The two of the problem of the present invention are achieved in that a kind of stone digging forklift truck intelligence less important work method, and described method need to provide an ARM master controller, photographic head, at least two radar, a display screen and a red laser discharger；Treated the geometric shape data of manipulating object rough stone block by photographic head and radar collection, repaint out the geometric profile image of rough stone block, and shown in vehicle-carrying display screen；Then the data gathered are processed, obtain the position of centre of gravity of manipulating object rough stone block and pass through the vertical line of this point, position of centre of gravity and vertical line rough stone block contour images on a display screen thereof will be marked display；Finally, adopt the central point of red laser discharger labelling forklift truck, photographic head catch red laser discharger be transmitted on rough stone block red laser beam, and by the process of ARM master controller, will central point rough stone block contour images on a display screen be marked；Operator can observe rough stone block contour images by vehicle-carrying display screen, rough stone block position of centre of gravity and vertical line thereof, and central point, operator's manually striker fork entrucking adjusts position around, makes forklift truck center drop on rough stone block center of gravity vertical line.
Further, described method farther includes: after ARM master controller switches on power, the initialization of start program, initialization content includes: detection radar, photographic head, start key, stop key, red laser discharger and memorizer whether normal operation, load the inner parameter of photographic head afterwards, including focal length value and single pixel value；After initialization completes, program enters loitering phase, when forklift truck is adjusted the front just treating handling rough stone block by operator, press start key, now show that first time data acquisition is ready, program starts to call photographic head and radar collection data, after ARM master controller receives the data of collection, whether these data collected effectively can be done a judgement, when the first time data collected are effective, first time data can be stored in internal storage by ARM master controller, waits second time data acquisition；The process of second time data acquisition is the same with first time data acquisition；After collecting twice valid data, ARM master controller will the data that collect for twice of associating, carry out processing and draw the shape treating handling rough stone block, obtain its position of centre of gravity and show；Radar and photographic head will be started afterwards, the center reference point position of mark forklift truck, while laser is irradiated on rough stone block, photographic head will shoot the picture of lower rough stone block, ARM master controller draws the laser spots position data relative to rough stone block by processing, and mark laser spot position on the rough stone block contour images of display screen, now staff just can pass through the drift condition of vehicle-carrying display screen observation laser spot position and rough stone block position of centre of gravity.
Further, whether these data collected effectively are done a judgement by described meeting, concrete grammar is whether judge that two radar surveyings obtain range data consistent, when two radar surveying values differ by more than 5cm, showing that forklift truck now is not just to placement, photographic head shooting obtains picture it would appear that deformation, is unfavorable for processing, now program can remind operator's this time data invalid, and the position that need to readjust forklift truck shoots again.
Further, described method is further: when after ARM master controller labelling rough stone block position of centre of gravity, will open red laser discharger, transmitting red laser beam immediately, in order to the position of display forklift truck center alignment in real time, and is again turned on photographic head；Now operator just can adjust forklift truck position, prepares handling rough stone block；In forklift truck moving process, photographic head can shoot picture at regular intervals and return to ARM master controller, the image of the rough stone block now photographed can comprise a red laser point, the position that the position at this red laser point place and forklift truck center are directed at, ARM master controller can again process and extract red laser point, and draw the relative position on this red laser point and rough stone block border, then this relative position information is utilized, the rough stone block contour images be marked with position of centre of gravity marks the position of red laser point, so far, the center of forklift truck and the position of centre of gravity of rough stone block are displayed in same pictures, operator only need to adjust forklift truck position, central point is made to drop on rough stone block center of gravity vertical line.
Further, described gathered by photographic head and radar treat handling rough stone block geometric shape data, repaint out the geometric profile image of rough stone block, particularly as follows: utilize the distance on camera imaging plan range rough stone block surface that two radar surveyings in left and right go out；Then pass through use " number of pixels " to be multiplied by " width of each pixel " and calculate rough stone block length of side length in camera imaging plane, wherein " number of pixels " obtains after being processed, by ARM master controller, the geometric profile outline drawing that shooting obtains, " width of each pixel " is determined by video camera inherent parameters, is a constant；Last similar triangle theory, the computing formula obtaining the actual length of side Z of rough stone block is: Z=[(d1+d2)/2+f] * L/f, wherein d1, d2 are the camera imaging face that records of two radars in the left and right distance to rough stone block face, f is the focal length of photographic head, and L is rough stone block length of side length on the geometric profile outline drawing that photographic head shooting obtains；The length and width of rough stone block can be calculated in this manner successively, and then judge the shape in this rough stone block front.
It is an advantage of the current invention that: the present invention by photographic head and radar with the use of, accurately draw out the shape waiting to load and unload waste material；Then pass through the process to rough stone block shape, find out its position of centre of gravity and be marked in picture and show；Finally, by red laser discharger, the be directed at position, center of mark forklift truck, and by processing, alignment position, forklift truck center and rough stone block center of gravity position are shown in same pictures, such operator just can intuitively arrive " center of gravity " and " degrees of offset of " center "; then adjust forklift truck position; make " center of gravity " and " " center " is on same vertical curve as far as possible very much, so, the center of gravity of rough stone block will drop on the center of forklift truck, solve the problem that centre-of gravity shift is brought.The present invention proposes a kind of mode finding rough stone block center of gravity, the problem that cannot accurately find rough stone block center of gravity before solution；The present invention can realize forklift truck center accurately and treat handling stone material position of centre of gravity overlap, it is to avoid forklift truck unbalance stress and cause the problem such as fault, danger；The present invention proposes a kind of mode utilizing photographic head and radar drawing rule body form, it is not necessary to manual measurement, convenient, safe and reliable.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the software flow pattern of stone digging forklift truck intelligence less important work method of the present invention.
Fig. 3 a utilizes photographic head and radar surveying rough stone block shape schematic diagram.
Fig. 3 b is rough stone block center of gravity position on geometry outline outline drawing.
Fig. 4 is forklift truck center alignment rough stone block centre-of-gravity principle figure.
Detailed description of the invention
Refer to shown in Fig. 1 and Fig. 2, a kind of stone digging forklift truck intelligence less important work device of the present invention, described device is arranged in forklift truck, and described device includes 1, photographic head 2 of an ARM master controller, 3, display screen 4 of at least two radar and a red laser discharger 5；Described photographic head 2, two radars 3, display screen 4, red laser dischargers 5 are all connected with described ARM master controller 1, and described photographic head 2 is arranged on two pallet fork (not shown) centre positions of forklift truck；Two radars 3 are symmetrically mounted at the both sides of photographic head 2, ensure that two radars 3 and photographic head 2 are in same height and the axis parallel of two radars 3 and photographic head 2 simultaneously；Red laser discharger 5 is arranged on the underface of photographic head 2, it is on the center of forklift truck, the laser that red laser discharger 5 is launched is parallel to horizontal plane, and described photographic head 2, two radars 3, red laser dischargers 5 all can vertically move with the pallet fork of forklift truck up and down.The shape data treating handling rough stone block is obtained by photographic head and radar, the appearance profile image obtaining rough stone block is processed by ARM master controller, and the position of centre of gravity of rough stone block, then the contour images of rough stone block is shown in vehicle-carrying display screen, and focus on the heart at contour images subscript, mark the vertical line through position of centre of gravity simultaneously；The center of forklift truck is marked by ARM master controller and red laser discharger, operator have only to adjust vehicle body make the center of forklift truck drop on treat handling rough stone block position of centre of gravity fall on, or the center making forklift truck is dropped on center of gravity vertical line, so exactly the position of centre of gravity of rough stone block can be placed in the center of forklift truck.
Acting as of ARM master controller 1 receives the information that radar 3 and photographic head 2 collect, and information is processed, and draws the contour shape of rough stone block, it is judged that its position of centre of gravity is also marked on contour images and shows.
The effect of photographic head 2 is the front elevation of shooting rough stone block, owing to rough stone block is typically all the cube of comparison rule, therefore its front view is generally rectangle, record its length and width afterwards, length and width now are the value reducing certain multiple, its value by ARM master controller 1 by the process of picture is calculated, can determine the front shape of rough stone block with this.
The effect of radar 3 is the distance testing out photographic head 2 imaging plane to stone material front, when left and right radar 3 measure distance value identical time show that photographic head is perpendicular to stone surface, the picture of rough stone block that now photographic head 2 shooting obtains will not have distortion.
Display screen 4: operator observe the laser spot position treating that handling rough stone block contour images, the position of centre of gravity of rough stone block and video capture arrive by vehicle-carrying display screen.
The effect of red laser discharger 5 be mark forklift truck center just to position, when ARM master controller make merit judge until handling rough stone block position of centre of gravity after, it will open red laser discharger launch laser, photographic head can be started simultaneously；While laser is irradiated on rough stone block, photographic head will shoot the picture of lower rough stone block, ARM master controller draws the laser spots position data relative to rough stone block by image procossing, and mark laser spot position on the rough stone block contour images of display screen, now staff just can observe the drift condition of laser spot position (i.e. forklift truck center alignment position) and rough stone block position of centre of gravity by vehicle-carrying display screen, then adjusts forklift truck right position and makes forklift truck center drop on rough stone block center of gravity vertical line.
In the present invention, described device also includes an input equipment 6, and described input equipment 6 is connected with described ARM master controller 1.Described input equipment includes in the present invention: start key and stop key.In practical application, input equipment can also include other button according to actual needs.
Described device is further: after ARM master controller switches on power, the initialization of start program, initialization content includes: detection radar, photographic head, start key, stop key, red laser discharger and memorizer whether normal operation, load the inner parameter of photographic head afterwards, including focal length value and single pixel value；After initialization completes, program enters loitering phase, when forklift truck is adjusted the front just treating handling rough stone block by operator, press start key, now show that first time data acquisition is ready, program starts to call photographic head and radar collection data, after ARM master controller 1 receives the data of collection, whether these data collected effectively can be done a judgement, when the first time data collected are effective, first time data can be stored in internal storage by ARM master controller 1, waits second time data acquisition；The process of second time data acquisition is the same with first time data acquisition；After collecting twice valid data, ARM master controller will the data that collect for twice of associating, carry out processing and draw the contour shape image treating handling rough stone block, and its position of centre of gravity showing in vehicle-carrying display screen；Radar and photographic head will be started afterwards, the center reference point position of mark forklift truck, while laser is irradiated on rough stone block, photographic head will shoot the picture of lower rough stone block, ARM master controller draws the laser spots position data relative to rough stone block by image procossing, and mark laser spot position on the rough stone block contour images of display screen, now staff just can pass through the drift condition of vehicle-carrying display screen observation laser spot position and rough stone block position of centre of gravity.
Referring to shown in Fig. 1 to Fig. 4, a kind of stone digging forklift truck intelligence less important work method of the present invention, described method need to provide 1, photographic head 2 of an ARM master controller, 3, display screen 4 of at least two radar and a red laser discharger 5；Gather, by photographic head 2 and radar 3, the geometric shape data treating manipulating object rough stone block, repaint out the geometric profile image of rough stone block 7, and shown in vehicle-carrying display screen 4；Then the data gathered are processed, obtain the position of centre of gravity of manipulating object rough stone block and pass through the vertical line of this point, position of centre of gravity and vertical line rough stone block 7 contour images on a display screen thereof will be marked display；Finally, adopt the central point of red laser discharger labelling forklift truck, photographic head catch red laser discharger be transmitted on rough stone block red laser beam, and by the process of ARM master controller 1, will central point rough stone block contour images on the display screen 4 be marked；Operator can pass through vehicle-carrying display screen 4 and observe rough stone block contour images, rough stone block position of centre of gravity and vertical line thereof, and central point, the right position phase of adjustment of operator's manually striker fork entrucking, make forklift truck center drop on rough stone block center of gravity vertical line.
Described method farther includes: after ARM master controller 1 switches on power, the initialization of start program, initialization content includes: detection radar 3, photographic head 2, start key, stop key, red laser discharger 5 and memorizer whether normal operation, load the inner parameter of photographic head 2 afterwards, including focal length value and single pixel value；After initialization completes, program enters loitering phase, when forklift truck is adjusted the front just treating handling rough stone block by operator, press start key, now show that first time data acquisition is ready, program starts to call photographic head and radar collection data, after ARM master controller 1 receives the data of collection, whether these data collected effectively can be done a judgement, when the first time data collected are effective, first time data can be stored in internal storage by ARM master controller 1, waits second time data acquisition；The process of second time data acquisition is the same with first time data acquisition；After collecting twice valid data, ARM master controller 1 will the data that collect for twice of associating, carry out processing and draw the shape treating handling rough stone block, obtain its position of centre of gravity and show；Radar 3 and photographic head 2 will be started afterwards, the center reference point position of mark forklift truck, while laser is irradiated on rough stone block, photographic head will shoot the picture of lower rough stone block, ARM master controller 1 draws the laser spots position data relative to rough stone block by image procossing, and mark laser spot position on the rough stone block contour images of display screen, now staff just can pass through the drift condition of vehicle-carrying display screen observation laser spot position and rough stone block position of centre of gravity.
Whether these data collected effectively are done a judgement by described meeting, concrete grammar is to judge that two radars 3 measure whether obtain range data consistent, when two radar 3 measured values differ by more than 5cm, show that forklift truck now is not just to placement, photographic head 2 shooting obtains picture it would appear that deform, being unfavorable for processing, now program can remind operator's this time data invalid, and the position that need to readjust forklift truck shoots again.
Described method is further: when after ARM master controller 1 labelling rough stone block position of centre of gravity, will open red laser discharger, transmitting red laser beam immediately, in order to the position of display forklift truck center alignment in real time, and is again turned on photographic head 2；Now operator just can adjust forklift truck position, prepares handling rough stone block；In forklift truck moving process, photographic head can shoot picture at regular intervals and return to ARM master controller 1, the geometry outline outline drawing of the rough stone block now photographed can comprise a red laser point, the position that the position at this red laser point place and forklift truck center are directed at, geometry outline outline drawing can be processed by ARM master controller 1 again, extract red laser point, and draw the relative position on this red laser point and rough stone block border, then this relative position information is utilized, the geometry outline outline drawing be marked with rough stone block position of centre of gravity marks the position of red laser point again, so far, the center of forklift truck and the position of centre of gravity of rough stone block are displayed in same pictures, operator only need to adjust forklift truck position, central point is made to drop on rough stone block center of gravity vertical line.
The described geometric shape data being treated manipulating object rough stone block by photographic head 2 and radar 3 collection, repaint out the outer image of geometric profile of rough stone block, particularly as follows: utilize the distance on camera imaging plan range rough stone block surface that the radar surveying of two, left and right goes out；Then pass through use " number of pixels " to be multiplied by " width of each pixel " and calculate rough stone block length of side length in camera imaging plane, wherein " number of pixels " obtains after being processed, by ARM master controller 1, the geometric profile outline drawing that shooting obtains, " width of each pixel " is determined by video camera inherent parameters, is a constant；Last similar triangle theory, the computing formula obtaining the actual length of side Z of rough stone block 7 is: Z=[(d1+d2)/2+f] * L/f, wherein d1, d2 are photographic head 2 imaging surface that records of two radars in the left and right distance to rough stone block face, f is the focal length of photographic head, and L is rough stone block length of side length on the geometric profile outline drawing that photographic head shooting obtains；The length and width of rough stone block 7 can be calculated in this manner successively, and then judge the shape in this rough stone block front.
Wherein, being utilize photographic head 2 and radar 3 to measure rough stone block shape schematic diagram as shown in Fig. 3 (a), d1, d2 are the distance of the photographic head 2 imaging plane distance stone surface that two, left and right radar 3 is measured；F is the focal length of photographic head 2；L is stone material length of side length on the picture that photographic head 2 shooting obtains, and computing formula is:
The width of each pixel of L=number of pixels *
ARM master controller 1 to camera collection to rough stone block picture carry out Corner Detection process, search out rough stone block 7 in picture four angle points (front view of effective rough stone block, left view are rectangle), then recording four angle points coordinate in picture, the number of pixels between two identical vertical coordinate differences of abscissa is " number of pixels " of a rough stone block length of side in picture；Number of pixels between two points that two identical abscissas of vertical coordinate are different is rough stone block " number of pixels " shared by another length of side in picture." width of each pixel " is determined by video camera inherent parameters, is a constant；Z is the actual length of side of stone material, is required amount.Just the computing formula that can be obtained Z by similar triangle theory is:
Z=(d1+f) * L/f
Due to operator's operational issue, often forklift truck can not strictly face stone material surface, now will cause that the value of d1 can have small difference with the value of d2, for reducing error, can using the meansigma methods of d1, d2 as camera imaging face to the distance of stone material surface, then above formula this be:
Z=[(d1+d2)/2+f] * L/f
The actual length, width and height of rough stone block can be calculated in this way successively.And then know the front shape of rough stone block.
Following ARM master controller will find the center of rough stone block front elevation each edge in picture, and records its coordinate, then connects the center of two groups of opposite side with two straight lines, and the intersection point of two lines is the position of centre of gravity in this face.Afterwards by position of centre of gravity density bullet, midpoint, upper and lower two limits line is carried out labelling, as shown in Fig. 3 (b) simultaneously；
After completing markers work, the picture after labelling will be shown on a display screen by ARM master controller, checks for operator.So far, rough stone block center of gravity job search terminates, and ARM master controller will provide for the center of gravity labelling picture of front elevation, and following operator just can adjust vehicle body position.
It is forklift truck center alignment rough stone block centre-of-gravity principle figure as shown in Figure 4.After ARM master controller completes markers work, red laser discharger, transmitting red laser beam will be opened immediately, in order to the position of display forklift truck center alignment in real time, and be again turned on photographic head.Now operator just can adjust forklift truck position, prepares handling rough stone block.In forklift truck moving process, photographic head can shoot picture at regular intervals and return to ARM master controller, the picture of the rough stone block now photographed is compared and is had more a red laser point with figure sector-meeting shown in Fig. 3 b, and the position that the position at this laser spots place and forklift truck center are directed at (picture photographed can detect effectiveness equally, and detection method is Fig. 2 proposed method).When photographing effective picture, picture can be processed by ARM master controller again, extract red laser point, and calculate the relative position of this redness point and rough stone block border, then this relative position information is utilized, picture 3b marks the position of red laser point, so far, the center of forklift truck and the position of centre of gravity of rough stone block 7 are displayed in same pictures, the position relationship at center of gravity and center will be apparent from, operator needs the work done to adjust forklift truck position exactly, makes center of gravity and center be in as much as possible on same vertical curve.
In a word, the present invention by photographic head and radar with the use of, accurately draw out the shape waiting to load and unload waste material；Then pass through the process to rough stone block shape, find out its position of centre of gravity and be marked in picture and show；Finally, by red laser discharger, the be directed at position, center of mark forklift truck, and by processing, alignment position, forklift truck center and rough stone block center of gravity position are shown in same pictures, such operator just can intuitively arrive " center of gravity " and " degrees of offset of " center "; then adjust forklift truck position; make " center of gravity " and " " center " is on same vertical curve as far as possible very much, so, the center of gravity of rough stone block will drop on the center of forklift truck, solve the problem that centre-of gravity shift is brought.
Although the foregoing describing the specific embodiment of the present invention; but those familiar with the art is to be understood that; we are merely exemplary described specific embodiment; rather than for the restriction to the scope of the present invention; those of ordinary skill in the art, in the equivalent modification made according to the spirit of the present invention and change, should be encompassed in the scope of the claimed protection of the present invention.
Claims (9)
1. a stone digging forklift truck intelligence less important work device, it is characterized in that: described device is arranged in forklift truck, described device includes an ARM master controller, photographic head, at least two radar, a display screen and a red laser discharger；Described photographic head, two radars, display screen, red laser dischargers are all connected with described ARM master controller, and described photographic head is arranged on the pallet fork centre position of forklift truck；Two radars are symmetrically mounted at the both sides of photographic head, ensure that two radars and photographic head are in same height and the axis parallel of two radars and photographic head simultaneously；Red laser discharger is arranged on the underface of photographic head, it is on the center of forklift truck, the laser that red laser discharger is launched is parallel to horizontal plane, and described photographic head, two radars, red laser dischargers all can vertically move with the pallet fork of forklift truck up and down；The shape data treating handling rough stone block is obtained by photographic head and radar, the appearance profile image obtaining rough stone block is processed by ARM master controller, and the position of centre of gravity of rough stone block, then the contour images of rough stone block is shown in vehicle-carrying display screen, and focus on the heart at contour images subscript, mark the vertical line through position of centre of gravity simultaneously；The center of forklift truck is marked by ARM master controller and red laser discharger; operator have only to adjust vehicle body makes the center of forklift truck drop on the position of centre of gravity treating handling rough stone block; or the center making forklift truck is dropped on center of gravity vertical line, so namely can ensure that barycentre steadiness during pallet fork lifting rough stone block.
2. stone digging forklift truck intelligence less important work device according to claim 1, it is characterised in that: described device also includes an input equipment, and described input equipment is connected with described ARM master controller；Described input equipment includes: start key and stop key.
3. stone digging forklift truck intelligence less important work device according to claim 1, it is characterized in that: acting as of described ARM master controller receives the information that radar and camera collection arrive, and information is processed, draw the contour shape of rough stone block, it is judged that its position of centre of gravity is also marked on contour images and shows；
The effect of photographic head is the front elevation of shooting rough stone block, obtains out to the process of picture by ARM master controller, determines the front shape of rough stone block with this；
The effect of radar is the distance testing out camera imaging plane to stone material front, when radar surveying distance value error in left and right meets range of set value requirement, namely showing that photographic head is perpendicular to stone surface, the picture of the rough stone block that now photographic head shooting obtains will not have distortion；
The effect of red laser discharger be mark forklift truck center just to position, when ARM master controller make merit judge until handling rough stone block position of centre of gravity after, it will open red laser discharger launch laser, photographic head can be started simultaneously；While laser is irradiated on rough stone block, photographic head will shoot the picture of lower rough stone block, ARM master controller draws the laser spots position data relative to rough stone block by image procossing, and mark laser spot position on the rough stone block contour images of display screen, now staff just can pass through the drift condition of vehicle-carrying display screen observation laser spot position and rough stone block position of centre of gravity, then adjusts forklift truck right position and makes forklift truck center drop on rough stone block center of gravity vertical line；
Display screen: operator observe the laser spot position treating that handling rough stone block contour images, the position of centre of gravity of rough stone block and video capture arrive by vehicle-carrying display screen.
4. stone digging forklift truck intelligence less important work device according to claim 1, it is characterized in that: described device is further: after ARM master controller switches on power, the initialization of start program, initialization content includes: detection radar, photographic head, start key, stop key, red laser discharger and memorizer whether normal operation, load the inner parameter of photographic head afterwards, including focal length value and single pixel value；After initialization completes, program enters loitering phase, when forklift truck is adjusted the front just treating handling rough stone block by operator, press start key, now show that first time data acquisition is ready, program starts to call photographic head and radar collection data, after ARM master controller receives the data of collection, whether these data collected effectively can be done a judgement, when the first time data collected are effective, first time data can be stored in internal storage by ARM master controller, waits second time data acquisition；The process of second time data acquisition is the same with first time data acquisition；After collecting twice valid data, ARM master controller will the data that collect for twice of associating, carry out processing and draw the contour shape image treating handling rough stone block, and its position of centre of gravity and through the vertical line of center of gravity and show in vehicle-carrying display screen；Radar and photographic head will be started afterwards, the center of labelling forklift truck, while laser is irradiated on rough stone block, photographic head will shoot the picture of lower rough stone block, ARM master controller draws the laser spots position data relative to rough stone block by processing, and mark laser spot position on the rough stone block contour images of display screen, now staff just can pass through the drift condition of vehicle-carrying display screen observation laser spot position and rough stone block center of gravity vertical line；During the forklift truck end of job, user presses stop key, closes intelligence less important work device.
5. a stone digging forklift truck intelligence less important work method, it is characterised in that: described method need to provide an ARM master controller, photographic head, at least two radar, a display screen and a red laser discharger；Treated the geometric shape data of manipulating object rough stone block by photographic head and radar collection, repaint out the geometric profile image of rough stone block, and shown in vehicle-carrying display screen；Then the data gathered are processed, obtain the position of centre of gravity of manipulating object rough stone block and pass through the vertical line of this point, position of centre of gravity and vertical line rough stone block contour images on a display screen thereof will be marked display；Finally, photographic head catch red laser discharger be transmitted on rough stone block red laser beam, and process, by ARM master controller, the central point obtaining forklift truck, will central point rough stone block contour images on a display screen be marked；Operator can observe rough stone block contour images by vehicle-carrying display screen, rough stone block position of centre of gravity and vertical line thereof, and central point, operator's manually striker fork entrucking adjusts position around, makes forklift truck center drop on rough stone block center of gravity vertical line.
6. stone digging forklift truck intelligence less important work method according to claim 5, it is characterized in that: described method farther includes: after ARM master controller switches on power, the initialization of start program, initialization content includes: detection radar, photographic head, start key, stop key, red laser discharger and memorizer whether normal operation, load the inner parameter of photographic head afterwards, including focal length value and single pixel value；After initialization completes, program enters loitering phase, when forklift truck is adjusted the front just treating handling rough stone block by operator, press start key, now show that first time data acquisition is ready, program starts to call photographic head and radar collection data, after ARM master controller receives the data of collection, whether these data collected effectively can be done a judgement, when the first time data collected are effective, first time data can be stored in internal storage by ARM master controller, waits second time data acquisition；The process of second time data acquisition is the same with first time data acquisition；After collecting twice valid data, ARM master controller will the data that collect for twice of associating, carry out processing and draw the shape treating handling rough stone block, obtain its position of centre of gravity and show；Radar and photographic head will be started afterwards, the center reference point position of mark forklift truck, while laser is irradiated on rough stone block, photographic head will shoot the picture of lower rough stone block, ARM master controller draws the laser spots position data relative to rough stone block by image procossing, and mark laser spot position on the rough stone block contour images of display screen, now staff just can pass through the drift condition of vehicle-carrying display screen observation laser spot position and rough stone block center of gravity vertical line；During the forklift truck end of job, user presses stop key, closes intelligence less important work device.
7. stone digging forklift truck intelligence less important work method according to claim 6, it is characterized in that: whether these data collected effectively are done a judgement by described meeting, concrete grammar is whether judge that two radar surveyings obtain range data consistent, when two radar surveying values differ by more than 5cm, show that forklift truck now is not just to placement, photographic head shooting obtains picture it would appear that deform, it is unfavorable for processing, now program can remind operator's this time data invalid, and the position that need to readjust forklift truck shoots again.
8. stone digging forklift truck intelligence less important work method according to claim 5, it is characterized in that: described method is further: when after ARM master controller labelling rough stone block position of centre of gravity, red laser discharger will be opened immediately, transmitting red laser beam, so that the position of display forklift truck center alignment in real time, and it is again turned on photographic head；Now operator just can adjust forklift truck position, prepares handling rough stone block；In forklift truck moving process, photographic head can shoot picture at regular intervals and return to ARM master controller, the geometry outline outline drawing of the rough stone block now photographed can comprise a red laser point, the position that the position at this red laser point place and forklift truck center are directed at, geometry outline outline drawing can be processed by ARM master controller again, extract red laser point, and draw the relative position on this red laser point and rough stone block border, then this relative position information is utilized, the geometry outline outline drawing be marked with rough stone block position of centre of gravity marks the position of red laser point again, so far, the center of forklift truck and the position of centre of gravity of rough stone block are displayed in same pictures, operator only need to adjust forklift truck position, central point is made to drop on rough stone block center of gravity vertical line.
9. stone digging forklift truck intelligence less important work method according to claim 5, it is characterized in that: the described geometric shape data being treated manipulating object rough stone block by photographic head and radar collection, repaint out the geometric profile image of rough stone block, particularly as follows: utilize the distance on camera imaging plan range rough stone block surface that two radar surveyings in left and right go out；Then pass through use " number of pixels " to be multiplied by " width of each pixel " and calculate rough stone block length of side length in camera imaging plane, wherein " number of pixels " obtains after being processed, by ARM master controller, the geometric profile outline drawing that shooting obtains, " width of each pixel " is determined by video camera inherent parameters, is a constant；Last similar triangle theory, the computing formula obtaining the actual length of side Z of rough stone block is: Z=[(d1+d2)/2+f] * L/f, wherein d1, d2 are the camera imaging face that records of two radars in the left and right distance to rough stone block face, f is the focal length of photographic head, and L is rough stone block length of side length on the geometric profile outline drawing that photographic head shooting obtains；The length and width of rough stone block can be calculated in this manner successively, and then judge the shape in this rough stone block front.
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