CN114435989A - Intelligent loading method and system - Google Patents
Intelligent loading method and system Download PDFInfo
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- CN114435989A CN114435989A CN202210340071.0A CN202210340071A CN114435989A CN 114435989 A CN114435989 A CN 114435989A CN 202210340071 A CN202210340071 A CN 202210340071A CN 114435989 A CN114435989 A CN 114435989A
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- 238000011068 loading method Methods 0.000 title claims abstract description 146
- 238000012937 correction Methods 0.000 claims abstract description 98
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The application relates to an intelligent loading method and system, belonging to the technical field of intelligent logistics, wherein the method comprises the following steps: acquiring a warehousing angle of a truck; judging whether the warehousing angle is matched with a preset angle or not, and obtaining a first judgment result; if the first judgment result is negative, acquiring a correction angle based on the preset angle and the warehousing angle; generating a correction instruction based on the correction angle; and adjusting the loading angle of the manipulator based on the correction instruction. The system comprises: the warehousing angle acquisition module is used for acquiring the warehousing angle of the truck; the angle judging module is used for judging whether the warehousing angle is matched with a preset angle or not and obtaining a first judging result; the correction angle acquisition module is used for acquiring a correction angle based on a preset angle and a warehousing angle when the first judgment result is negative; the instruction generating module is used for generating a correction instruction based on the correction angle; and the angle adjusting module is used for adjusting the loading angle of the manipulator based on the correction instruction. This application has the effect that reduces the degree of difficulty of loading.
Description
Technical Field
The application relates to the technical field of intelligent logistics, in particular to an intelligent loading method and system.
Background
Along with the development of economy and the improvement of science and technology, the intelligent control level of various industries is obviously improved. For example, in the current freight loading, the conventional manual loading is gradually developed into the way that the manipulator automatically places the goods on the transportation frame on the truck, so that the working efficiency is obviously improved, and the labor consumption is reduced.
However, the intelligent degree of the existing automatic loading system is relatively low, a driver is required to adjust the warehousing angle of a loaded vehicle in the loading process of the loading system, and the driver needs high control requirements, so that the loading difficulty is increased.
Disclosure of Invention
In order to reduce the difficulty of loading, the application provides an intelligent loading method and system.
In a first aspect, the present application provides an intelligent loading method, which adopts the following technical scheme:
an intelligent loading method comprises the following steps:
acquiring a warehousing angle of a truck;
judging whether the warehousing angle is matched with a preset angle or not, and obtaining a first judgment result;
if the first judgment result is negative, acquiring a correction angle based on the preset angle and the warehousing angle;
generating a correction instruction based on the correction angle;
and adjusting the loading angle of the manipulator based on the correction instruction.
By adopting the technical scheme, whether the warehousing angle of the truck is matched with the preset angle or not is judged, a first judgment result is obtained, and whether the truck can be normally loaded or not can be judged. If the first judgment result is negative, the fact that the warehousing angle of the truck has large deviation is proved, the correction angle is obtained according to the preset angle and the warehousing angle at the moment, then a correction instruction is generated according to the correction angle to adjust the loading angle of the manipulator, and then the manipulator is controlled to load according to the adjusted loading angle, so that the accuracy of the loading angle can be guaranteed as far as possible, the loading quality is improved, and the loading difficulty is reduced.
Preferably, before the generating of the correction instruction based on the correction angle, the method further includes:
acquiring a contrast angle;
judging whether the comparison angle is matched with the warehousing angle or not, and obtaining a second judgment result;
if the second judgment result is negative, acquiring a rechecking angle based on the comparison angle and the preset angle to serve as a new correction angle;
and if the second judgment result is yes, carrying out the next step.
By adopting the technical scheme, whether the comparison angle is matched with the warehousing angle or not is judged, and whether the warehousing angle is accurate or not can be further judged according to the obtained human judgment result; if the second judgment result is negative, the high-probability measurement of the warehousing angle is proved to be wrong, and at the moment, the rechecking angle is obtained according to the comparison angle and is used as a new correction angle. Generating a new correction instruction according to the new correction angle to adjust the loading angle of the manipulator, and controlling the manipulator to load according to the new loading angle; if the second judgment result is yes, the warehousing angle is proved to be correct, and at the moment, the manipulator is continuously controlled to load according to the loading angle obtained firstly. Therefore, by the mode, whether the measurement of the warehousing angle is correct or not can be further verified, so that the detection accuracy is further improved, and the stability and the safety of loading are improved.
Preferably, the step of obtaining the contrast angle includes the following steps:
acquiring a warehousing image of the truck as a warehousing image;
acquiring a warehousing marking line preset on the ground based on the warehousing image;
acquiring the contour line of the truck based on the warehousing image;
and acquiring an included angle between the contour line and the warehousing marking line as the comparison angle.
By adopting the technical scheme, the mark line and the contour line are obtained according to the warehousing image, the position between the mark line and the contour line is relatively fixed, and even if the equipment for shooting the warehousing image is inclined to a certain degree, the error of the change of the included angle between the shot warehousing mark line and the contour line is small, so that the stability of the contrast angle can be improved.
Preferably, after the acquiring the warehousing angle of the truck, the method further comprises:
acquiring the spacing distance between the transport frame and the truck;
judging whether the spacing distance is larger than a spacing threshold value or not, and obtaining a third judgment result;
and if the third judgment result is negative, generating distance alarm information.
Through adopting above-mentioned technical scheme, judge whether interval distance is greater than the interval threshold value, obtain the third judged result, can judge whether freight train can collide the transportation frame. If the third judgment result is negative, the fact that the truck is about to touch the transportation frame is proved, the distance alarm information is generated at the moment, and a truck driver can be reminded in time, so that the safety in the loading process is improved.
Preferably, after the adjusting the loading angle of the manipulator based on the correction instruction, the method further includes:
acquiring the actual length of a carriage of a truck;
acquiring the length of a carriage of a preset truck as a preset length;
judging whether the preset length is equal to the actual length or not, and obtaining a fourth judgment result;
if the fourth judgment result is negative, obtaining an adjustment distance based on the preset length and the actual length;
and adjusting the loading distance of the manipulator based on the adjusting distance.
By adopting the technical scheme, whether the preset length is equal to the actual length or not is judged, a fourth judgment result is obtained, and whether the current loading system of the truck is matched or not can be judged. If the fourth judgment result is negative, the verification is not matched, the adjusting distance is obtained according to the preset length and the actual length at the moment, and the loading distance of the manipulator is adjusted according to the adjusting distance, so that the manipulator can adapt to the current freight car, the freight car can be loaded smoothly, the loading system can be suitable for freight cars with different lengths, and the application range of the system is further improved.
Preferably, after acquiring the actual length of the wagon, the method further includes:
acquiring the maximum moving length of the manipulator when loading;
judging whether the maximum moving length is larger than the actual length or not, and obtaining a fifth judgment result;
and if the fifth judgment result is negative, generating alarm information.
By adopting the technical scheme, whether the maximum moving distance of the manipulator during loading is larger than the actual length is judged, a fifth judgment result is obtained, and whether the manipulator can be suitable for the current truck or not can be judged. If the fifth judgment result is negative, the fact that the manipulator is not suitable for the current truck at a high probability is proved, at the moment, alarm information is generated, and relevant workers are reminded to check the alarm information in time, so that the loading safety is further improved.
Preferably, if the fifth determination result is negative, the generating of the warning information includes the following steps:
when the fifth judgment result is negative, acquiring a length difference value based on the maximum movement length and the actual length;
judging whether the length difference is smaller than a length threshold value or not, and obtaining a sixth judgment result;
if the sixth judgment result is yes, adjusting the loading distance of the manipulator based on the maximum moving length;
and if the sixth judgment result is negative, generating the alarm information.
By adopting the technical scheme, when the fifth judgment result is negative, the length difference value is obtained according to the maximum moving length and the actual length, then whether the length difference value needs the length threshold value is judged, the sixth judgment result is obtained, and whether the current truck can be suitable or not can be further judged. If the sixth judgment result is yes, the current truck is proved to be applicable, and the loading distance of the manipulator is adjusted according to the maximum moving length, so that loading is facilitated; and if the sixth judgment result is negative, the current truck is proved to be not applicable, and at the moment, alarm information is generated. Furthermore, by the mode, the accuracy of judging whether the truck is applicable or not can be further improved, and the application range of the loading system is further improved.
Preferably, the length threshold is an actual width of the acquired cargo.
Through adopting above-mentioned technical scheme, according to the actual broad adjustment length threshold value of goods, can further improve the suitability of loading system.
In a second aspect, the present application provides an intelligent loading system, which adopts the following technical scheme:
an intelligent loading system, comprising:
the warehousing angle acquisition module is used for acquiring the warehousing angle of the truck;
the angle judging module is used for judging whether the warehousing angle is matched with a preset angle or not and obtaining a first judging result;
a correction angle acquisition module, configured to acquire a correction angle based on the preset angle and the warehousing angle when the first determination result is negative;
the instruction generating module is used for generating a correction instruction based on the correction angle;
and the angle adjusting module is used for adjusting the loading angle of the manipulator based on the correction instruction.
By adopting the technical scheme, after the warehousing angle acquisition module acquires the warehousing angle of the truck, the warehousing angle acquisition module sends the warehousing angle of the truck to the angle judgment module connected with the warehousing angle acquisition module, the angle judgment module judges whether the warehousing angle and the preset angle exist or not, obtains a first judgment result, and sends the first judgment result to the correction angle acquisition module connected with the angle judgment module. And when the first judgment result is negative, the correction angle acquisition module acquires the correction angle according to the preset angle and the warehousing angle and sends the correction angle to the instruction generation module connected with the correction angle. The instruction generating module generates a correction instruction according to the correction angle and sends the correction instruction to the angle adjusting module connected with the instruction generating module. The angle adjusting module adjusts the loading angle of the manipulator according to the correction instruction, so that loading is convenient. The accuracy of the loading angle can be guaranteed as far as possible, so that the loading quality is improved, and the loading difficulty is reduced.
Preferably, the method further comprises the following steps:
the first length obtaining module is used for obtaining the actual length of a carriage of the truck;
the second length acquisition module is used for acquiring the preset carriage length of the truck as the preset length;
the length judging module is used for judging whether the preset length is equal to the actual length or not and obtaining a fourth judging result;
a distance obtaining module, configured to obtain an adjustment distance based on the preset length and the actual length when the fourth determination result is negative;
and the distance adjusting module is used for adjusting the loading distance of the manipulator based on the adjusting distance.
By adopting the technical scheme, the first length acquisition module acquires the actual length of the carriage of the truck and sends the actual length to the length judgment module connected with the first length acquisition module. And the second length acquisition module acquires the preset carriage length of the truck, takes the carriage length as the preset length, and sends the carriage length to the length judgment module connected with the second length acquisition module. The length judging module judges whether the preset length is equal to the actual length or not, obtains a fourth judging result, and sends the fourth judging result to the distance obtaining module connected with the fourth judging result. And when the fourth judgment result is negative, the distance acquisition module acquires the adjustment distance according to the preset length and the actual length and sends the adjustment distance to the distance adjustment module connected with the distance acquisition module, and the distance adjustment module adjusts the loading distance of the manipulator according to the adjustment distance. Therefore, the truck can be loaded smoothly, the loading system can be suitable for trucks with different lengths, and the application range of the system is further improved.
In summary, the present application includes at least one of the following beneficial technical effects:
and judging whether the warehousing angle of the truck is matched with the preset angle or not, and judging whether the truck can be normally loaded or not. If not, the warehouse entry angle of freight train is proved to have great deviation, obtains the angle of correction according to presetting the angle and warehouse entry angle this moment, then generates the loading angle of correcting the instruction in order to adjust the manipulator according to the angle of correction, and then controls the manipulator to carry out the loading according to the loading angle after the adjustment, can guarantee the accuracy of loading angle as far as to improve the quality of loading, reduce the degree of difficulty of loading.
Drawings
Fig. 1 is a schematic overall flow chart of an intelligent loading method provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating steps S11-S13 according to an embodiment of the present application;
FIG. 3 is a schematic flow chart illustrating steps S21 through S24 according to an embodiment of the present application;
FIG. 4 is a schematic flowchart of the embodiment of the present application after step S1, namely, step S31 to step S33;
FIG. 5 is a schematic flow chart illustrating steps S41 through S45 after step S5 in one embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating steps S51 through S53 after step S41 in one embodiment of the present application;
FIG. 7 is a schematic flow chart illustrating steps S61 through S64 according to an embodiment of the present application;
fig. 8 is a block diagram of an overall structure of an intelligent loading system provided in an embodiment of the present application;
fig. 9 is a block diagram of a structure for adjusting a loading distance of a manipulator in an embodiment of an intelligent loading system according to the present application.
Description of reference numerals:
1. a warehousing angle acquisition module; 2. an angle judgment module; 3. a correction angle acquisition module; 4. an instruction generation module; 5. an angle adjustment module; 6. a first length acquisition module; 7. a second length acquisition module; 8. a length judgment module; 9. a distance acquisition module; 10. and a distance adjusting module.
Detailed Description
The present application is described in further detail below with reference to figures 1-9.
The embodiment of the application discloses an intelligent loading method.
Referring to fig. 1, the intelligent loading method includes:
s1, acquiring a warehousing angle of a truck;
s2, judging whether the warehousing angle is matched with a preset angle or not, and obtaining a first judgment result;
s3, if the first judgment result is negative, acquiring a correction angle based on a preset angle and a warehousing angle;
s4, generating a correction instruction based on the correction angle;
and S5, adjusting the loading angle of the manipulator based on the correction instruction.
Specifically, the warehousing angle of the truck is firstly acquired, the acquisition mode can be acquired after the acquisition mode is measured by a laser angle meter, the laser angle meter can be installed on a transportation frame, and the warehousing angle is the angle between laser measured by the laser angle meter and the side edge of the truck.
And then judging whether the warehousing angle is matched with the preset angle or not, and obtaining a first judgment result, namely judging whether goods can be normally loaded on the truck or not after the truck enters the garage for loading the goods. The matching mode of the warehousing angle and the preset angle can adopt a mode that the warehousing angle is a measured fixed value, the preset angle is a preset range value, and whether the warehousing angle is matched or not is judged by judging whether the size of the warehousing angle falls within the range value of the preset angle or not. And if the size of the warehousing angle is between the upper limit value and the lower limit value of the preset angle, matching, otherwise, mismatching.
Of course, the judgment manner for judging whether the warehousing angle is matched with the preset angle may be that the warehousing angle and the preset angle are both fixed values, then the difference value between the warehousing angle and the preset angle is obtained, and then whether the difference value is between a preset upper threshold and a preset lower threshold is judged. If so, matching the warehousing angle with the preset angle, otherwise, mismatching.
Therefore, the first judgment result includes two results of matching the warehousing angle with the preset angle and not matching the warehousing angle with the preset angle. If the first judgment result is yes, the warehousing angle is proved to be matched with the preset angle, and then the subsequent cargo loading step can be normally carried out; if the first judgment result is negative, the warehousing angle is proved to be not matched with the preset angle, and at the moment, if the manipulator is used for automatically loading goods, the loading angle of the manipulator needs to be adjusted. Therefore, the correction angle is obtained according to the preset angle and the warehousing angle.
In the process of acquiring the correction angle, when the preset angle is a range value and the warehousing angle is smaller than the lower limit value of the preset angle, the correction angle may be a value obtained by subtracting the warehousing angle from the lower limit value, and when the warehousing angle is larger than the upper limit value of the preset angle, the correction angle may be a value obtained by subtracting the upper limit value from the warehousing angle.
And when the preset angle is a fixed value and the warehousing angle is larger than the preset angle, subtracting a difference value obtained by the preset angle from the warehousing angle to obtain a comparison value. When the comparison value is smaller than a preset lower threshold, subtracting the comparison value by using any value between the preset upper threshold and the preset lower threshold, wherein the obtained value is the correction angle; when the contrast value is larger than a preset upper threshold, subtracting any value between the upper threshold and the lower threshold from the contrast value to obtain the correction angle.
And then generating a correction instruction according to the correction angle, wherein the correction instruction comprises the correction angle, and then adjusting the loading angle of the manipulator according to the correction instruction. For example, when the warehousing angle is smaller than the preset angle, the warehousing angle of the truck is proved to be insufficient, and the loading angle of the manipulator needs to be increased by the size of the corresponding correction angle, so that the warehousing angle of the truck is complemented; otherwise, the loading angle of the manipulator is required to be subtracted by the corresponding correction angle, so that surplus of the truck warehousing angle is eliminated.
Finally, the manipulator lays the goods on the carriage of the truck according to the adjusted loading angle, so that the accuracy of the loading angle can be guaranteed as far as possible while automatic loading is realized, the possibility of rollover of the goods is reduced, the loading quality is improved, and the loading difficulty is reduced.
Referring to fig. 2, in the loading process, the angle of the angle gauge may change due to external impact or the like, which may cause a large error in the measurement of the warehousing angle, and therefore, in order to reduce the influence caused by this situation as much as possible, in another embodiment, step S4 further includes the following steps before generating the correction command based on the correction angle:
s11, obtaining a contrast angle;
s12, judging whether the comparison angle is matched with the warehousing angle or not, and obtaining a second judgment result;
and S13, if the second judgment result is negative, acquiring a rechecking angle based on the comparison angle and the preset angle to serve as a new correction angle.
Specifically, a comparison angle is first obtained, and the comparison angle may be obtained by setting a laser goniometer that is not easily touched. And comparing the comparison angle with the warehousing angle, judging whether the comparison angle is matched with the warehousing angle, and obtaining a second judgment result, so that the accuracy of the warehousing angle can be further judged. The matching mode of the comparison angle and the warehousing angle may be to obtain a difference between the comparison angle and the warehousing angle, and then judge whether the difference is within a preset range value, that is, judge whether the difference is greater than or equal to a minimum value of the preset range value and less than or equal to a maximum value of the preset range value. If the difference value is within the range value, the comparison angle is proved to be matched with the warehousing angle, otherwise, the comparison angle is not matched.
If the second judgment result is yes, the measured angle of the angle gauge is proved to be normal, and then the step S4 can be continued, namely, a correction instruction is generated based on the correction angle; if the second judgment result is negative, the measured angle of the angle gauge is proved to be wrong with high probability, at the moment, the rechecking angle is obtained according to the comparison angle and the preset angle and is used as a new correction angle, and the obtaining mode of the rechecking angle is the same as the mode of obtaining the correction angle through the preset angle and the warehousing angle when the preset angle is a fixed value.
And then generating a new correction instruction according to the new correction angle, and then adjusting the loading angle of the manipulator according to the correction instruction. And finally, the manipulator lays the goods on the carriage of the truck according to the adjusted loading angle, so that the accuracy of the loading angle is ensured as much as possible while automatic loading is realized, and whether the measurement of the warehousing angle is correct or not can be further verified, thereby effectively improving the detection accuracy and improving the stability and the safety of loading.
Referring to fig. 3, further, in order to improve the stability of the contrast angle, in another embodiment, the step S11 of acquiring the contrast angle includes the following steps:
s21, acquiring an image of the truck after warehousing as a warehousing image;
s22, acquiring a warehousing mark line preset on the ground based on the warehousing image;
s23, acquiring a contour line of the truck based on the warehousing image;
and S24, acquiring an included angle between the contour line and the warehousing marking line as a comparison angle.
Specifically, first, an image of a truck loaded in a warehouse is captured by a camera provided in the warehouse and acquired as a warehouse entry image. The garage is characterized in that a garage entering marking line is arranged on the ground of the garage, the arrangement mode can refer to the arrangement mode of the parking line of the parking space, and the garage entering marking line can be shot clearly in the process of shooting the garage entering images.
After the warehousing image is obtained, a warehousing mark line and a contour line of the truck are obtained according to an image algorithm, then an included angle between the contour line and the warehousing mark line is obtained according to a corresponding image algorithm, the included angle is an included angle between the contour line in the length direction of the truck and the line in the length direction of the warehousing mark line, and then the included angle is used as a comparison angle.
The mark line and the contour line are obtained from the warehousing image through the image shot by the camera and other equipment, the position between the mark line and the contour line is relatively fixed, and even if the equipment for shooting the warehousing image is inclined to a certain degree, the error of the change of the included angle between the shot warehousing mark line and the contour line is small, so that the stability of the contrast angle can be improved.
Referring to fig. 4, further, in order to further improve the safety during the loading process, in another embodiment, after acquiring the warehousing angle of the truck, step S1 further includes the following steps:
s31, obtaining the spacing distance between the transport frame and the truck;
s32, judging whether the interval distance is larger than an interval threshold value or not, and obtaining a third judgment result;
and S33, if the third judgment result is negative, generating distance alarm information.
Particularly, in the process that the truck backs a car and enters the garage, the spacing distance between the transport frame and the truck, namely the distance between the transport frame and the tail of the truck is acquired, and the acquisition mode can be obtained through measurement of a laser range finder.
And then judging whether the spacing distance is greater than a spacing threshold value or not, and obtaining a third judgment result, namely judging whether the condition that the truck collides with the transportation frame occurs or not in the process of backing the truck. Wherein, the interval threshold value is the safety distance between the preset vehicle tail and the transportation frame.
When the third judgment result is yes, the fact that no collision danger exists is proved, and no prompt operation is needed; when the third judgment result is negative, the fact that the distance between the two wheels is too small is proved, collision accidents can happen, distance alarm information is generated at the moment and output, and accordingly workers such as a truck driver are reminded, and safety in the loading process can be improved. And the distance alarm information can be light flashing, buzzing alarm or other alarm modes.
Referring to fig. 5, in an actual loading process, there may be a case where a loaded truck and a truck used in ordinary times have different sizes, and at this time, a loading distance of a robot needs to be adjusted. Therefore, in another embodiment, after the step S5 of adjusting the loading angle of the robot based on the correction instruction, the method further includes the following steps:
s41, acquiring the actual length of a carriage of the truck;
s42, acquiring the length of a preset carriage of the truck as the preset length;
s43, judging whether the preset length is equal to the actual length or not, and obtaining a fourth judgment result;
s44, if the fourth judgment result is negative, obtaining an adjustment distance based on the preset length and the actual length;
and S45, adjusting the loading distance of the manipulator based on the adjusting distance.
Specifically, after the loading angle of the manipulator is adjusted, the actual length of the carriage of the truck, that is, the length of the portion of the truck that is placed and obtained, may be obtained by measuring with a sensor, by taking a picture and then calculating according to the proportion of the picture, or by manual input.
And then acquiring the length of the carriage of the preset truck, wherein the preset length is the length of the pre-stored carriage, and the preset length is matched with the garage, namely when the carriage of the truck with the preset length is positioned in the garage, the carriage is not too short or too long. And then judging whether the preset length is equal to the actual length or not, and obtaining a fourth judgment result, namely judging whether the current truck is matched with the garage or not.
And in the process of judging whether the preset length is equal to the actual length, a certain error can exist between the actual length and the preset length, the error comprises an upper limit value and a lower limit value, the size of the error can be set according to the actual condition, and if the difference value between the actual length and the preset length is within the range of the error value, the preset length is judged to be equal to the actual length.
If the fourth judgment result is yes, namely the preset length is equal to the actual length, the manipulator does not need to be adjusted again at the moment, and the loading is directly carried out; if the fourth judgment result is negative, the preset length is proved to be unequal to the actual length. And acquiring an adjusting distance according to the preset length and the actual length, wherein the adjusting distance is a difference value between the preset length and the actual length, and all the difference values take positive values.
And then, adjusting the loading distance of the manipulator according to the adjustment distance, wherein the loading distance refers to the farthest distance from the manipulator to the carriage after the manipulator picks the goods. If the preset length is equal to the actual length, the loading distance is an initial value, and when the preset length is greater than the actual length, the adjusted loading distance is obtained by subtracting the adjustment distance from the initial value of the loading distance; when the preset length is smaller than the actual length, the adjusted loading distance is obtained by adding the adjustment distance to the initial value of the loading distance, and the loading distance is adjusted to the initial value again after each adjustment and loading.
Therefore, by the mode, the manipulator can adapt to the current trucks, so that the trucks can be loaded smoothly, the loading system can be suitable for trucks with different lengths, and the application range of the loading system is further widened.
Referring to fig. 6, for a truck of too long length, if the manipulator cannot move to the end of the truck carriage close to the truck head, when the truck is suddenly braked or otherwise emergently stopped, the goods in the carriage may slide, and then fall down, which easily causes damage to the goods, so that further judgment is needed. Therefore, in another embodiment, the step S41, after acquiring the actual length of the wagon compartment, further includes the following steps:
s51, acquiring the maximum moving length of the manipulator when loading;
s52, judging whether the maximum moving length is larger than the actual length or not, and obtaining a fifth judgment result;
and S53, if the fifth judgment result is negative, generating alarm information.
Specifically, after the actual length is obtained, the maximum moving length of the manipulator when loading the goods is obtained, wherein the maximum moving length refers to the farthest distance which the manipulator can move when grabbing the goods from the transportation rack and transporting the goods to the truck, and the farthest distance can be preset and stored by a system and then obtained from the system.
And then judging whether the maximum moving length is larger than the actual length or not, and obtaining a fifth judgment result, namely judging whether the manipulator can move to one end of the current boxcar close to the head of the van or not, and further judging whether goods in the boxcar can slide, overturn and the like.
If the fifth judgment result is yes, the manipulator is proved to be capable of moving the goods to one end of the carriage close to the vehicle head, so that the goods are close to the edge of the vehicle, the goods can be normally loaded at the moment, and the possibility that the goods slide and then fall due to sudden braking of the truck can be reduced.
If the fifth judgment result is negative, the manipulator cannot be moved to one end, close to the car head, of the carriage, at the moment, the sliding and overturning conditions of the goods caused by sudden braking are proved with high probability, at the moment, alarm information is generated and sent to relevant workers, and therefore the workers are reminded and warned. And then can further improve the security in the loading process through foretell mode, guarantee the quality in the freight transportation process as far as possible simultaneously. The prompting mode can be at least one of a light mode, a sound alarm mode and the like.
Referring to fig. 7, further, in the actual judgment process, there may be a case where the length of the car is only 10 cm, 15 cm or 20 cm larger than the maximum moving length, and the judgment of this case needs to be further judged in combination with the width of the cargo. Therefore, in another embodiment, in step S53, if the fifth determination result is negative, the generating the warning message includes the following steps:
s61, when the fifth judgment result is negative, acquiring a length difference value based on the maximum moving length and the actual length;
s62, judging whether the length difference is smaller than a length threshold value or not, and obtaining a sixth judgment result;
s63, if the sixth judgment result is yes, adjusting the loading distance of the manipulator based on the maximum moving length;
and S64, if the sixth judgment result is negative, generating alarm information.
Specifically, when the fifth determination result is negative, a length difference is obtained according to the maximum movement length and the actual length, that is, the difference between the maximum movement length and the actual length is obtained, and a positive value of the difference is obtained, that is, the length difference is obtained. And then judging whether the length difference is smaller than a length threshold value or not, and obtaining a sixth judgment result, wherein the length threshold value is the actual width of the obtained goods. The actual width of the goods refers to the distance of the goods along the length direction of the carriage when the goods are placed in the carriage, namely the actual width of the goods.
Judge whether the length difference is less than the length threshold value, can judge promptly that emergency braking takes place when the freight train, lead to the goods to take place to slide after, whether the goods can be followed the carriage and is close to the space between the lateral wall of locomotive one end and the goods and fall. If the fifth judgment result is yes, the goods are proved not to fall from the gap, the goods are proved not to be overturned approximately, and the loading can be carried out at the moment, so that the loading distance of the manipulator is adjusted according to the maximum moving length, and the manipulator is controlled to carry out moving loading according to the maximum moving length.
If the sixth judgment result is negative, the fact that the goods fall from the gap at a high probability is proved, the goods are overturned or impacted, the goods are damaged at a high probability, and warning information is generated at the moment. Furthermore, by the mode, the accuracy of judging whether the truck is applicable or not can be further improved, and the application range of the loading system is further improved.
The implementation principle of the intelligent loading method in the embodiment of the application is as follows: and judging whether the warehousing angle of the truck is matched with the preset angle or not, obtaining a first judgment result, and judging whether the truck can be normally loaded or not. If the first judgment result is negative, the fact that the warehousing angle of the truck has large deviation is proved, the correction angle is obtained according to the preset angle and the warehousing angle at the moment, then a correction instruction is generated according to the correction angle to adjust the loading angle of the manipulator, and then the manipulator is controlled to load according to the adjusted loading angle, so that the accuracy of the loading angle can be guaranteed as far as possible, the loading quality is improved, and the loading difficulty is reduced.
The embodiment of the application further discloses an intelligent loading system which can achieve the same technical effect as the intelligent loading method.
Referring to fig. 8, the intelligent loading system includes:
the warehousing angle acquisition module 1 is used for acquiring the warehousing angle of the truck;
the angle judging module 2 is used for judging whether the warehousing angle is matched with a preset angle or not and obtaining a first judging result;
the correction angle acquisition module 3 is used for acquiring a correction angle based on a preset angle and a warehousing angle when the first judgment result is negative;
the instruction generating module 4 is used for generating a correction instruction based on the correction angle;
and the angle adjusting module 5 is used for adjusting the loading angle of the manipulator based on the correction instruction.
Specifically, after the warehousing angle acquisition module 1 acquires the warehousing angle of the truck, the warehousing angle is sent to the angle judgment module 2 connected with the warehousing angle acquisition module, the angle judgment module 2 judges whether the warehousing angle and the preset angle are available, a first judgment result is obtained, and the first judgment result is sent to the correction angle acquisition module 3 connected with the first judgment result.
And when the first judgment result is negative, the correction angle acquisition module 3 acquires the correction angle according to the preset angle and the warehousing angle, and sends the correction angle to the instruction generation module 4 connected with the correction angle. The instruction generating module 4 generates a correction instruction according to the correction angle and sends the correction instruction to the angle adjusting module 5 connected with the instruction generating module.
The angle adjusting module 5 adjusts the loading angle of the manipulator according to the correction instruction, so that loading is facilitated. The accuracy of the loading angle can be guaranteed as far as possible, so that the loading quality is improved, and the loading difficulty is reduced.
Referring to fig. 9, in another embodiment, the intelligent loading system further includes:
the first length obtaining module 6 is used for obtaining the actual length of the carriage of the truck;
the second length obtaining module 7 is used for obtaining the preset carriage length of the truck as the preset length;
the length judging module 8 is used for judging whether the preset length is equal to the actual length or not and obtaining a fourth judging result;
the distance obtaining module 9, when the fourth determination result is negative, is configured to obtain an adjustment distance based on the preset length and the actual length;
and the distance adjusting module 10 is used for adjusting the loading distance of the manipulator based on the adjusting distance.
Specifically, the first length obtaining module 6 obtains the actual length of the wagon box and sends the actual length to the length judging module 8 connected with the actual length. The second length obtaining module 7 obtains the length of the preset carriage of the truck as the preset length, and sends the length to the length judging module 8 connected with the second length obtaining module. The length judging module 8 judges whether the preset length is equal to the actual length, obtains a fourth judgment result, and sends the fourth judgment result to the distance obtaining module 9 connected with the fourth judgment result.
And when the fourth judgment result is negative, the distance acquisition module 9 acquires the adjustment distance according to the preset length and the actual length, and sends the adjustment distance to the distance adjustment module 10 connected with the distance acquisition module, and the distance adjustment module 10 adjusts the loading distance of the manipulator according to the adjustment distance. Therefore, the truck can be loaded smoothly, the loading system can be suitable for trucks with different lengths, and the application range of the system is further improved.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. An intelligent loading method is characterized by comprising the following steps:
acquiring a warehousing angle of a truck;
judging whether the warehousing angle is matched with a preset angle or not, and obtaining a first judgment result;
if the first judgment result is negative, acquiring a correction angle based on the preset angle and the warehousing angle;
generating a correction instruction based on the correction angle;
and adjusting the loading angle of the manipulator based on the correction instruction.
2. The method of loading according to claim 1, further comprising, prior to said generating a correction command based on said correction angle:
acquiring a contrast angle;
judging whether the comparison angle is matched with the warehousing angle or not, and obtaining a second judgment result;
if the second judgment result is negative, acquiring a rechecking angle based on the comparison angle and the preset angle to serve as a new correction angle;
and if the second judgment result is yes, carrying out the next step.
3. The loading method according to claim 2, wherein the step of obtaining the contrast angle comprises the steps of:
acquiring a warehousing image of the truck as a warehousing image;
acquiring a warehousing marking line preset on the ground based on the warehousing image;
acquiring the contour line of the truck based on the warehousing image;
and acquiring an included angle between the contour line and the warehousing marking line as the comparison angle.
4. The loading method according to claim 1, further comprising, after said obtaining the garage angle of the truck:
acquiring the spacing distance between the transport frame and the truck;
judging whether the spacing distance is larger than a spacing threshold value or not, and obtaining a third judgment result;
and if the third judgment result is negative, generating distance alarm information.
5. The loading method according to claim 1, further comprising, after the adjusting the loading angle of the robot based on the correction instruction:
acquiring the actual length of a carriage of a truck;
acquiring the length of a carriage of a preset truck as a preset length;
judging whether the preset length is equal to the actual length or not, and obtaining a fourth judgment result;
if the fourth judgment result is negative, obtaining an adjustment distance based on the preset length and the actual length;
and adjusting the loading distance of the manipulator based on the adjusting distance.
6. The method of loading as claimed in claim 5, further comprising, after said obtaining the actual length of the wagon compartment:
acquiring the maximum moving length of the manipulator when loading;
judging whether the maximum moving length is larger than the actual length or not, and obtaining a fifth judgment result;
and if the fifth judgment result is negative, generating alarm information.
7. The loading method according to claim 6, wherein if the fifth judgment result is negative, generating the warning message comprises the following steps:
when the fifth judgment result is negative, acquiring a length difference value based on the maximum movement length and the actual length;
judging whether the length difference is smaller than a length threshold value or not, and obtaining a sixth judgment result;
if the sixth judgment result is yes, adjusting the loading distance of the manipulator based on the maximum moving length;
and if the sixth judgment result is negative, generating the alarm information.
8. The method of loading according to claim 7, wherein the length threshold is an actual width of the acquired cargo.
9. An intelligent loading system, comprising:
the warehousing angle acquisition module is used for acquiring the warehousing angle of the truck;
the angle judging module is used for judging whether the warehousing angle is matched with a preset angle or not and obtaining a first judging result;
a correction angle acquisition module, configured to acquire a correction angle based on the preset angle and the warehousing angle when the first determination result is negative;
the instruction generating module is used for generating a correction instruction based on the correction angle;
and the angle adjusting module is used for adjusting the loading angle of the manipulator based on the correction instruction.
10. The truck loading system of claim 9, further comprising:
the first length obtaining module is used for obtaining the actual length of a carriage of the truck;
the second length acquisition module is used for acquiring the preset carriage length of the truck as the preset length;
the length judging module is used for judging whether the preset length is equal to the actual length or not and obtaining a fourth judging result;
a distance obtaining module, configured to obtain an adjustment distance based on the preset length and the actual length when the fourth determination result is negative;
and the distance adjusting module is used for adjusting the loading distance of the manipulator based on the adjusting distance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210340071.0A CN114435989A (en) | 2022-04-02 | 2022-04-02 | Intelligent loading method and system |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103342240A (en) * | 2013-07-10 | 2013-10-09 | 深圳先进技术研究院 | Bagged material car-loading system and method |
| CN113291870A (en) * | 2021-05-18 | 2021-08-24 | 科捷智能科技股份有限公司 | Automatic loading system and method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103342240A (en) * | 2013-07-10 | 2013-10-09 | 深圳先进技术研究院 | Bagged material car-loading system and method |
| CN113291870A (en) * | 2021-05-18 | 2021-08-24 | 科捷智能科技股份有限公司 | Automatic loading system and method |
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Application publication date: 20220506 |