CN112429535B - Control system and method for multi-layer accurate stacking of ground piled cargos - Google Patents
Control system and method for multi-layer accurate stacking of ground piled cargos Download PDFInfo
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- CN112429535B CN112429535B CN202011241443.1A CN202011241443A CN112429535B CN 112429535 B CN112429535 B CN 112429535B CN 202011241443 A CN202011241443 A CN 202011241443A CN 112429535 B CN112429535 B CN 112429535B
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- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The invention provides a control system and a method for accurately stacking multiple layers of ground piles, comprising the following steps: the industrial camera is arranged above the ground cargo space and is used for shooting the cargo on the uppermost layer of the cargo space; the visual recognition controller is connected with the industrial camera, receives the image shot by the industrial camera, performs visual recognition and positioning calculation, recognizes the position and angle compensation quantity of the goods on the uppermost layer of the goods position, and sends the position and angle compensation quantity to the AGV; the AGV is provided with an AGV controller, receives the position and angle compensation quantity of the goods at the uppermost layer of the goods position sent by the visual recognition controller, and compensates by using the position and angle compensation quantity of the goods at the uppermost layer of the goods position when stacking the goods. Therefore, when each new layer of goods is placed, the AGV takes the actual position and the angle compensation quantity of the goods of the previous layer of goods, namely the top layer of the goods, as the reference, and can ensure that the placed new layer of goods cannot deviate too much at least, thereby ensuring that the goods can be stably placed when being stacked.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to a control system and a method for accurately stacking multiple layers of ground stacked cargos.
Background
AGVs, known as Automated Guided vehicles, are generally used in logistics systems or factories for automatically delivering goods to a destination, such as a cargo space, and stacking the goods according to a user instruction. In actual use, AGVs often do not place exactly one hundred percent of their alignment in the set position when placing loads into the slot, but always have slight deviations, more or less, to the left or to the right. Therefore, when a plurality of layers of goods need to be stacked, the goods on the upper layer are sometimes difficult to be stably placed or even can not be placed; and the more the number of layers, the more unstable the device is. For example, in an extreme case, the first layer of goods has a large deviation to the left, the second layer of goods has a large deviation to the right, and thus the third layer of goods is likely to be unstably or unstably placed.
Disclosure of Invention
In view of the shortcomings of the prior art, the present invention provides a control system and method for precisely stacking multiple layers of goods on a ground pile, which can stably place multiple layers of goods.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
a control system for multi-level precision stacking of stacked cargo items, the control system comprising:
the industrial camera is arranged above the ground cargo space and is used for shooting the cargo on the uppermost layer of the cargo space;
the visual recognition controller is connected with the industrial camera, receives the image shot by the industrial camera, performs visual recognition and positioning calculation, recognizes the position and angle compensation quantity of the goods on the uppermost layer of the goods position, and sends the position and angle compensation quantity to the AGV;
the AGV is provided with an AGV controller, receives the position and angle compensation quantity of the goods at the uppermost layer of the goods position sent by the visual recognition controller, and compensates by using the position and angle compensation quantity of the goods at the uppermost layer of the goods position when stacking the goods.
Further, the Vision recognition controller is connected with the industrial camera through a GigE Vision protocol or a USB 3.0 Vision protocol.
Further, the AGV with the visual identification controller all is equipped with wireless communication module in order to carry out wireless communication.
Further, the wireless communication module is a 5G module or a wifi module.
Further, the industrial camera also shoots an image of the AGV in the process of driving to the goods space and sends the image to the visual recognition controller; the vision recognition controller recognizes the position and the angle of the AGV and sends the position and the angle to a controller of the AGV; the controller of the AGV uses both the position and the angle of the AGV to compensate.
Further, the industrial camera is an infrared camera.
Furthermore, each industrial camera corresponds to one cargo space or a plurality of cargo spaces and is determined by the factors of the resolution ratio of the industrial cameras, the installation height and the distribution condition of the cargo spaces in the factory building.
A method for controlling multi-layer precise stacking of stacked cargos, the method comprising:
configuring an industrial camera, arranging the industrial camera above a ground cargo space, and shooting the cargo on the uppermost layer of the cargo space;
a visual recognition controller is configured, is connected with the industrial camera, receives the image shot by the industrial camera, performs visual recognition and positioning calculation, recognizes the position and angle compensation quantity of the goods on the uppermost layer of the goods position, and sends the position and angle compensation quantity to the AGV;
and configuring an AGV, wherein an AGV controller is arranged on the AGV, receiving the position and angle compensation quantity of the goods at the uppermost layer of the goods position sent by the visual recognition controller, and compensating by using the position and angle compensation quantity of the goods at the uppermost layer of the goods position when the goods are stacked.
Further, the industrial camera also shoots an image of the AGV in the process of driving to the goods space and sends the image to the visual recognition controller; the vision recognition controller recognizes the position and the angle of the AGV and sends the position and the angle to a controller of the AGV; the controller of the AGV uses both the position and the angle of the AGV to compensate.
Further, the controller of the AGV also performs navigation control on the AGV.
The invention relates to a control system and a method for multi-layer accurate stacking of piled cargos, which comprises the following steps: the industrial camera is arranged above the ground cargo space and is used for shooting the cargo on the uppermost layer of the cargo space; the visual recognition controller is connected with the industrial camera, receives the image shot by the industrial camera, performs visual recognition and positioning calculation, recognizes the position and angle compensation quantity of the goods on the uppermost layer of the goods position, and sends the position and angle compensation quantity to the AGV; the AGV is provided with an AGV controller, receives the position and angle compensation quantity of the goods at the uppermost layer of the goods position sent by the visual recognition controller, and compensates by using the position and angle compensation quantity of the goods at the uppermost layer of the goods position when stacking the goods. Therefore, when each new layer of goods is placed by the AGV, the practical position and the angle compensation quantity of the previous layer of goods, namely the goods on the uppermost layer of the goods position, are taken as the reference, so that the placed new layer of goods can be ensured not to deviate too much at least, and the multilayer goods can be stably placed when being stacked; and can be stably placed no matter how many layers are.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a control system for precisely stacking multiple layers of stacked goods according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a control system for precisely stacking multiple layers of stacked goods according to an embodiment of the present invention. The control system for the multi-layer accurate stacking of the ground piled cargos comprises: the industrial camera is arranged above the ground cargo space and is used for shooting the cargo on the uppermost layer of the cargo space; the visual identification controller (IPC) is connected with the industrial camera, receives the image shot by the industrial camera, performs visual identification and positioning calculation, identifies the position and angle compensation quantity of the goods on the uppermost layer of the goods position, and sends the position and angle compensation quantity to the AGV; the AGV is provided with an AGV controller, receives the position and angle compensation quantity of the goods at the uppermost layer of the goods position sent by the visual recognition controller, and compensates by using the position and angle compensation quantity of the goods at the uppermost layer of the goods position when stacking the goods. Therefore, when a new layer of goods is placed, the AGV takes the actual position and the angle compensation quantity of the previous layer of goods, namely the goods at the uppermost layer of the goods position, as the reference, so that the placed new layer of goods can not deviate too much at least, and the placed new layer of goods can be stably placed when multiple layers of goods are stacked; and can be stably placed no matter how many layers are.
Wherein, industry camera is infrared camera, so can be used to night or the not good occasion of light. The visual recognition controller is connected with the industrial camera through a GigE Vision protocol or a USB 3.0 Vision protocol or other camera protocols.
The AGV with the visual identification controller all is equipped with wireless communication module in order to carry out wireless communication, for example AGV receives the position and the angle compensation volume of the goods of the top layer of goods position from the visual identification controller. The wireless communication module can be a 5G module or a wifi module.
Further, the industrial camera also shoots an image of the AGV in the process of driving to the goods space and sends the image to the visual recognition controller; the vision recognition controller recognizes the position and the angle of the AGV and sends the position and the angle to a controller of the AGV; the AGV controller uses both the AGV position and angle for compensation, making the stack more accurate.
Furthermore, each industrial camera can correspond to one goods space or a plurality of goods spaces, and is determined by factors such as resolution, installation height and distribution situation of the goods spaces in the factory building of the industrial camera. Therefore, m industrial cameras and n AGVs may be included in the control system constructed throughout the plant.
The invention also provides a control method for accurately stacking multiple layers of ground piles, which comprises the following steps: an industrial camera is configured and arranged above a ground cargo space to shoot the cargo on the uppermost layer of the cargo space; a visual recognition controller is configured, is connected with the industrial camera, receives the image shot by the industrial camera, performs visual recognition and positioning calculation, recognizes the position and angle compensation quantity of the goods on the uppermost layer of the goods position, and sends the position and angle compensation quantity to the AGV; and configuring an AGV, wherein an AGV controller is arranged on the AGV, the AGV controller receives the position and angle compensation quantity of the goods at the uppermost layer of the goods position sent by the visual recognition controller, and the position and angle compensation quantity of the goods at the uppermost layer of the goods position is used for compensating when the goods are stacked. Therefore, when each new layer of goods is placed by the AGV, the practical position and the angle compensation quantity of the previous layer of goods, namely the goods on the uppermost layer of the goods position, are taken as the reference, so that the placed new layer of goods can be ensured not to deviate too much at least, and the multilayer goods can be stably placed when being stacked; and can be stably placed no matter how many layers are.
The controller of the AGV is used for carrying out navigation control on the AGV.
Further, the industrial camera also shoots an image of the AGV in the process of driving to the goods space and sends the image to the visual recognition controller; the vision recognition controller recognizes the position and the angle of the AGV and sends the position and the angle to a controller of the AGV; the AGV controller uses both the AGV position and angle for compensation, making the stack more accurate.
The invention relates to a control system and a method for multi-layer accurate stacking of piled cargos, which comprises the following steps: the industrial camera is arranged above the ground cargo space and is used for shooting the cargo on the uppermost layer of the cargo space; the visual recognition controller is connected with the industrial camera, receives the image shot by the industrial camera, performs visual recognition and positioning calculation, recognizes the position and angle compensation quantity of the goods on the uppermost layer of the goods position, and sends the position and angle compensation quantity to the AGV; the AGV is provided with an AGV controller, receives the position and angle compensation quantity of the goods at the uppermost layer of the goods position sent by the visual recognition controller, and compensates by using the position and angle compensation quantity of the goods at the uppermost layer of the goods position when stacking the goods. Therefore, when each new layer of goods is placed by the AGV, the practical position and the angle compensation quantity of the previous layer of goods, namely the goods on the uppermost layer of the goods position, are taken as the reference, so that the placed new layer of goods can be ensured not to deviate too much at least, and the multilayer goods can be stably placed when being stacked; and can be stably placed no matter how many layers are.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention disclosed herein are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A control system for multi-level precision stacking of stacked cargo items, the control system comprising:
the industrial camera is arranged above the ground cargo space and is used for shooting the cargo on the uppermost layer of the cargo space;
the visual recognition controller is connected with the industrial camera, receives the image shot by the industrial camera, performs visual recognition and positioning calculation, recognizes the position and angle compensation quantity of the goods on the uppermost layer of the goods position, and sends the position and angle compensation quantity to the AGV;
the AGV is provided with an AGV controller, receives the position and angle compensation quantity of the goods at the uppermost layer of the goods position sent by the visual recognition controller, and compensates by using the position and angle compensation quantity of the goods at the uppermost layer of the goods position when stacking the goods.
2. The control system of claim 1, wherein the visual recognition controller is connected to the industrial camera via GigE Vision protocol or USB 3.0 Vision protocol.
3. The control system of claim 1 wherein said AGV and said visual identification controller are each provided with a wireless communication module for wireless communication.
4. The control system of claim 3, wherein the wireless communication module is a 5G module or a wifi module.
5. The control system of claim 1, wherein said industrial camera further captures images of the AGV as it travels to the lot and sends them to a vision recognition controller; the vision recognition controller recognizes the position and the angle of the AGV and sends the position and the angle to a controller of the AGV; the controller of the AGV uses both the position and the angle of the AGV to compensate.
6. The control system of claim 1, wherein the industrial camera is an infrared camera.
7. The control system of claim 1, wherein each industrial camera corresponds to one cargo space or a plurality of cargo spaces, and is determined by factors such as resolution of the industrial camera, installation height, and distribution of the cargo spaces in the plant.
8. A method for controlling the accurate stacking of multiple layers of stacked cargos, comprising the following steps:
an industrial camera is configured and arranged above a ground cargo space to shoot the cargo on the uppermost layer of the cargo space;
a visual recognition controller is configured, is connected with the industrial camera, receives the image shot by the industrial camera, performs visual recognition and positioning calculation, recognizes the position and angle compensation quantity of the goods on the uppermost layer of the goods position, and sends the position and angle compensation quantity to the AGV;
and configuring an AGV, wherein an AGV controller is arranged on the AGV, receiving the position and angle compensation quantity of the goods at the uppermost layer of the goods position sent by the visual recognition controller, and compensating by using the position and angle compensation quantity of the goods at the uppermost layer of the goods position when the goods are stacked.
9. The control method according to claim 8, wherein the industrial camera further captures an image of the AGV during traveling to the cargo space and sends the image to the visual recognition controller; the vision recognition controller recognizes the position and the angle of the AGV and sends the position and the angle to a controller of the AGV; the controller of the AGV uses both the position and the angle of the AGV to compensate.
10. The method of claim 8, wherein the AGV controller also provides navigational control over the AGV.
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| DE29616751U1 (en) * | 1996-09-26 | 1996-11-14 | Hermann Spicher GmbH, 51069 Köln | Device for the automatic loading of workpiece pallets |
| CN106672634B (en) * | 2016-12-08 | 2022-08-02 | 广东工业大学 | Automatic aluminum profile stacking system and control method thereof |
| CN107876652A (en) * | 2017-11-27 | 2018-04-06 | 安徽戎发冲压机器人有限公司 | The uninterrupted plate stacking production line in auto arrangement direction |
| CN208856515U (en) * | 2018-10-11 | 2019-05-14 | 西安中科光电精密工程有限公司 | It is a kind of based on the mixed unstacking robot system for putting material information acquisition |
| CN109969807B (en) * | 2019-05-29 | 2019-08-16 | 湖南思威博恒智能科技有限责任公司 | Automatic deviation correction clamp for stacking, robot palletizer and pallet method for correcting error |
| CN110480609B (en) * | 2019-08-20 | 2021-07-30 | 南京涵铭置智能科技有限公司 | Pose error self-compensation stacking robot and stacking method thereof |
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