CN107758363A - A kind of lorry automatic loading system and method based on machine vision - Google Patents
A kind of lorry automatic loading system and method based on machine vision Download PDFInfo
- Publication number
- CN107758363A CN107758363A CN201711052433.1A CN201711052433A CN107758363A CN 107758363 A CN107758363 A CN 107758363A CN 201711052433 A CN201711052433 A CN 201711052433A CN 107758363 A CN107758363 A CN 107758363A
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- machine
- telescopic machine
- goods
- manipulator body
- telescopic
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- 238000011068 loading method Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 238000003709 image segmentation Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of lorry automatic loading system and method based on machine vision；Including moveable telescopic machine, connect the 3D cameras of visual identifying system, being used to fix the camera supports of 3D cameras, manipulator body, visual identifying system feedack is passed to the robot system of control machinery hand body action, the dolly for carrying the movement of manipulator body above telescopic machine leading portion；The end of manipulator body is provided with sucker clamp, and sucker clamp is used for goods handling to telescopic machine.The end of manipulator body is provided with sucker clamp, and sucker clamp is used for goods handling to telescopic machine.In operation process, to consolidate manipulator body, dolly is fixed on to the side of telescopic machine end, moved under the drive of telescopic machine；If running into unreachable position when manipulator body is in operation, dolly fixed position before and after telescopic machine is can adjust, until manipulator body can be operated in job area.
Description
Technical field
The present invention relates to lorry loading system, more particularly to a kind of lorry automatic loading system and side based on machine vision
Method.
Background technology
In the industrial production, in modern enterprise logistics, lorry container entrucking one of which important step, container is
A kind of steel tank by standard specification design, and container packing is that kinds of goods are deposited in compartment by certain pile type, at present this
The standardized work of one link need to be improved.Due to lorry vehicle difference, kinds of goods different sizes, entrucking require it is changeable etc. because
Element, at present mainly by being accomplished manually.And when using manual work, worker will face the high temperature in compartment, and dust atmosphere is brought
Occupational disease, not only labor intensity is big, short time consumption is long, boxing efficiency is low, is also possible to damage kinds of goods, and in small space
Carry and face higher security risk with the worker of stacking operation, the above factor can all influence the entrucking of materials circulation
Efficiency.Therefore the logistic efficiency of enterprise, which will be greatly improved, in the operating type of automation is realized to this link, reduces enterprise at this
The various losses of one link.
The content of the invention
The shortcomings that it is an object of the invention to overcome above-mentioned prior art and deficiency, there is provided a kind of goods based on machine vision
Car automatic loading system and method；Realize that automatic loading of the container type cargo to boxcar from production line works, mitigate work
The workload of people, improve materials circulation efficiency.
The present invention is achieved through the following technical solutions：
A kind of lorry automatic loading system based on machine vision, including moveable telescopic machine 3, connection visual recognition line
The 3D cameras 1 of system, the camera support 2, manipulator body 4, general that are used to fix 3D cameras 1 above the leading portion of telescopic machine 3
Visual identifying system feedack passes to the robot system of the action of control machinery hand body 4, for carrying manipulator sheet
The dolly 6 that body 4 moves；
The end of the manipulator body 4 is provided with sucker clamp 5, and sucker clamp 5 is used for goods handling to telescopic machine 3
On.The end of the manipulator body 4 is provided with sucker clamp 5, and sucker clamp 5 is used for goods handling to telescopic machine 3.
In operation process, to make manipulator body 4 firm, dolly 6 is fixed on to the side of the end of telescopic machine 3, flexible
Moved under the drive of machine 3；If running into unreachable position when manipulator body 4 is in operation, dolly 6 is can adjust in telescopic machine 3
Front and rear fixed position, until manipulator body 4 can be operated in job area.
The bottom of the telescopic machine 3 is provided with roller.
The telescopic machine 3 is telescopic conveyor, length 18m.
A kind of lorry automatic loading method based on machine vision, comprises the following steps：
Lorry is moved backward into position, and is docked with feeding table level；
Telescopic machine 3 is in stretching state, and the end entered to inside boxcar is pushed together with the dolly 6 being fixed thereon
Position；The top of telescopic conveyor is placed into the goods carried, and is delivered to end, the product installed on end device in place
After detecting goods arrival information, telescopic conveyor stop motion is controlled；
3D cameras collect the image information of goods, pass to vision system, vision system by Stereo matching, image at
After reason, image segmentation, target signature point calculate, goods posture information, and incoming robot system are obtained, machinery is determined with control
The crawl position of hand body 4；Goods of the manipulator body 4 by the crawl of sucker clamp 5 positioned at the end of telescopic machine 3, and according to rule
The stacking path pulled carries out goods vanning work；
In goods binning process, before changing on dolly 6 manipulator body 4 by adjusting the length of telescopic machine 3
Position afterwards, it is cased in effective working range, often complete the stacking of a fixed bed, telescopic machine 3 will be retreated to next
Operating area, so it is repeated up to the goods vanning work for completing vehicle.
The present invention is had the following advantages and effect relative to prior art：
The mode that the present invention is combined using manipulator with dolly so that manipulator can move freely, flexibly vanning；
The end of telescopic machine is equipped with fixed 3D cameras, can automatic identification detection case posture, it is high and position to be compared to man efficiency
Accurately；Arm end performs device uses multiple vacuum cups, can reliable and stable absorption casing, compared to manually as far as possible
Reduce the probability of the deformation or damage in handling process.
Brief description of the drawings
Fig. 1 is the lorry automatic loading system general structure schematic diagram of the invention based on machine vision.
Fig. 2 is the manipulator body partial structural diagram of dolly of the present invention and its carrying.
When Fig. 3 transports goods for the present invention, view when lorry, feeding table dock.
Fig. 4 is visual identifying system of the present invention and robot system schematic diagram.
Embodiment
The present invention is more specifically described in detail with reference to specific embodiment.
Embodiment
As shown in Figures 1 to 4.The invention discloses a kind of lorry automatic loading system based on machine vision, including it is removable
Dynamic telescopic machine 3, the 3D cameras 1 for connecting visual identifying system, above the leading portion of telescopic machine 3 be used for fix 3D cameras 1
Camera support 2, manipulator body 4, visual identifying system feedack is passed to the machine that control machinery hand body 4 acts
Device people system, the dolly 6 for carrying the movement of manipulator body 4；Robot system includes switch board, industrial computer, PC etc..
The end of the manipulator body 4 is provided with sucker clamp 5, and sucker clamp 5 is used for goods handling to telescopic machine 3
On.The end of the manipulator body 4 is provided with sucker clamp 5, and sucker clamp 5 is used for goods handling to telescopic machine 3.
In operation process, to make manipulator body 4 firm, dolly 6 is fixed on to the side of the end of telescopic machine 3, flexible
Moved under the drive of machine 3；If running into unreachable position when manipulator body 4 is in operation, dolly 6 is can adjust in telescopic machine 3
Front and rear fixed position, until manipulator body 4 can be operated in job area.
The bottom of the telescopic machine 3 is provided with roller.
The telescopic machine 3 is telescopic conveyor, length 18m.
A kind of lorry automatic loading method based on machine vision, comprises the following steps：
Lorry is moved backward into position, and is docked with feeding table level；
Telescopic machine 3 is in stretching state, and the end entered to inside boxcar is pushed together with the dolly 6 being fixed thereon
Position；The top of telescopic conveyor is placed into the goods carried, and is delivered to end, the product installed on end device in place
After detecting goods arrival information, telescopic conveyor stop motion is controlled；
3D cameras collect the image information of goods, pass to vision system, vision system by Stereo matching, image at
After reason, image segmentation, target signature point calculate, goods posture information, and incoming robot system are obtained, machinery is determined with control
The crawl position of hand body 4；Goods of the manipulator body 4 by the crawl of sucker clamp 5 positioned at the end of telescopic machine 3, and according to rule
The stacking path pulled carries out goods vanning work；
In goods binning process, before changing on dolly 6 manipulator body 4 by adjusting the length of telescopic machine 3
Position afterwards, it is cased in effective working range, often complete the stacking of a fixed bed, telescopic machine 3 will be retreated to next
Operating area, so it is repeated up to the goods vanning work for completing vehicle.
As described above, the present invention can be better realized.
Embodiments of the present invention are simultaneously not restricted to the described embodiments, other any Spirit Essences without departing from the present invention
With made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in the present invention's
Within protection domain.
Claims (5)
- A kind of 1. lorry automatic loading system based on machine vision, it is characterised in that：Including moveable telescopic machine (3), even Connect the 3D cameras (1) of visual identifying system, the camera branch for being used to fix 3D cameras (1) above telescopic machine (3) leading portion Frame (2), manipulator body (4), vision system feedack is passed to the system of robot that control machinery hand body (4) acts System, the dolly (6) mobile for carrying manipulator body (4)；The end of the manipulator body (4) is provided with sucker clamp (5), and sucker clamp (5) is used for goods handling to flexible On machine (3).
- 2. the lorry automatic loading system based on machine vision according to claim 1, it is characterised in that：In operation process, To make manipulator body (4) firm, dolly (6) is fixed on to the side of telescopic machine (3) end, under the drive of telescopic machine (3) It is mobile；When manipulator body (4) is if run into unreachable position in operation, adjustable dolly (6) is solid before and after telescopic machine (3) Positioning is put, until manipulator body (4) can be operated in job area.
- 3. the lorry automatic loading system based on machine vision according to claim 2, it is characterised in that：The telescopic machine (3) bottom is provided with roller.
- 4. the lorry automatic loading system based on machine vision according to claim 3, it is characterised in that：The telescopic machine (3) it is telescopic conveyor, length 18m.
- A kind of 5. lorry automatic loading method based on machine vision, it is characterised in that comprise the following steps：Lorry is moved backward into position, and is docked with feeding table level；Telescopic machine (3) is in stretching state, and the end entered to inside boxcar is pushed together with the dolly (6) being fixed thereon Position；The top of telescopic conveyor is placed into the goods carried, and is delivered to end, the product installed on end device in place After detecting goods arrival information, telescopic conveyor stop motion is controlled；3D cameras collect the image information of goods, pass to vision system, vision system by Stereo matching, image procossing, After image segmentation, target signature point calculate, goods posture information, and incoming robot system are obtained, to control determination manipulator The crawl position of body (4)；Goods of the manipulator body (4) by sucker clamp (5) crawl positioned at telescopic machine (3) end, and Goods vanning work is carried out according to the stacking path planned；In goods binning process, before changing on dolly 6 manipulator body (4) by adjusting the length of telescopic machine (3) Position afterwards, it is cased in effective working range, often complete the stacking of a fixed bed, telescopic machine (3) will be retreated under One operating area, so it is repeated up to the goods vanning work for completing vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711052433.1A CN107758363A (en) | 2017-10-30 | 2017-10-30 | A kind of lorry automatic loading system and method based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711052433.1A CN107758363A (en) | 2017-10-30 | 2017-10-30 | A kind of lorry automatic loading system and method based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107758363A true CN107758363A (en) | 2018-03-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711052433.1A Pending CN107758363A (en) | 2017-10-30 | 2017-10-30 | A kind of lorry automatic loading system and method based on machine vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950007A (en) * | 2019-12-23 | 2020-04-03 | 山东科技大学 | Coal mine material stacking and loading robot system based on machine vision |
| CN112357620A (en) * | 2020-11-27 | 2021-02-12 | 湖北中烟工业有限责任公司 | Cigarette carton finished product delivery system and control method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117470A (en) * | 2017-06-19 | 2017-09-01 | 广州达意隆包装机械股份有限公司 | A kind of entrucking robot and its loading method |
-
2017
- 2017-10-30 CN CN201711052433.1A patent/CN107758363A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117470A (en) * | 2017-06-19 | 2017-09-01 | 广州达意隆包装机械股份有限公司 | A kind of entrucking robot and its loading method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950007A (en) * | 2019-12-23 | 2020-04-03 | 山东科技大学 | Coal mine material stacking and loading robot system based on machine vision |
| CN112357620A (en) * | 2020-11-27 | 2021-02-12 | 湖北中烟工业有限责任公司 | Cigarette carton finished product delivery system and control method thereof |
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Application publication date: 20180306 |