CN115676698A - Tray positioning method, system, device and medium based on mobile terminal equipment - Google Patents
Tray positioning method, system, device and medium based on mobile terminal equipment Download PDFInfo
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Abstract
The invention provides a tray positioning method, a system, a device and a medium based on mobile terminal equipment. The tray positioning method comprises the following steps: acquiring a first image of a bearing tray through an AGV forklift with a camera, and sending the first image to a mobile terminal device; the mobile terminal equipment acquires an actual position angle between the AGV and the bearing tray through a first image, and adjusts the position of the AGV according to the actual position angle so that the AGV moves to a standard position angle; after the position is adjusted, acquiring a second image of the current bearing tray through a camera of the AGV forklift and sending the second image to the mobile terminal equipment; and the mobile terminal equipment performs tray positioning control on the AGV forklift through the second image. The pallet positioning system comprises modules corresponding to the method steps.
Description
Technical Field
The invention provides a tray positioning method, a system, a device and a medium based on mobile terminal equipment, and belongs to the technical field of tray positioning.
Background
The produced bearings are usually received by the bearing tray in the bearing production process, so that the transportation of the bearing products is facilitated. The traditional way is to transport and position transfer of the bearing products by manually handling the bearing trays. Along with the continuous development of automation technology, intelligence AGV fork truck is applied to the transportation and the handling work of bearing production gradually. However, during the transportation process of the bearing tray by the AGV forklift, the bearing tray needs to be positioned to pick up the bearing tray. However, the positioning of the existing AGV forklift for the bearing tray usually needs the embedded control method of the AGV forklift to perform autonomous positioning, although the positioning performance of the AGV forklift for the autonomous tray is improved to a certain extent by the method, in the large-number bearing carrying process of a plurality of AGV forklifts, because the AGV forklifts are more in number, the unified control of the AGV forklifts cannot be realized, and the supervision performance of the AGV forklifts is reduced. Simultaneously, current tray location only limits to the location detection of AGV fork truck to bearing tray position, ignores AGV fork truck and grabs bearing tray position and angle, very easily leads to the tray to appear the problem emergence that drops in AGV fork truck transportation.
Disclosure of Invention
The invention provides a tray positioning method, a system, a device and a medium based on mobile terminal equipment, which are used for carrying out unified positioning processing on bearing trays by utilizing mobile terminal equipment such as a mobile phone, a tablet personal computer and the like, and are used for solving the problems that the control efficiency of a plurality of AGV forklifts in the prior art is low, the tray positioning in the prior art is only limited to positioning detection of the AGV forklifts on the positions of the bearing trays, and the tray falls off in the transportation process of the AGV forklifts due to neglect of the positions and angles of the AGV forklifts for grabbing the bearing trays, and the adopted technical scheme is as follows:
the tray positioning method based on the mobile terminal equipment comprises the following steps:
acquiring a first image of a bearing tray through a camera of an AGV forklift, and sending the first image to mobile terminal equipment;
the mobile terminal equipment acquires an actual position angle between the AGV and the bearing tray through a first image, and adjusts the position of the AGV according to the actual position angle so that the AGV moves to a standard position angle;
after the position is adjusted, acquiring a second image of the current bearing tray through a camera of the AGV forklift and sending the second image to the mobile terminal equipment; and the mobile terminal equipment performs tray positioning control on the AGV forklift through the second image.
Further, gather the first image of bearing tray from taking the camera through AGV fork truck, with first image transmission to mobile terminal, include:
the mobile terminal equipment controls the AGV to move to the bearing tray according to the bearing discharging condition through the specification parameters of the bearing tray and the bearing discharging number;
after the AGV forklift runs to the position of the bearing tray, acquiring an image of the bearing tray by using a camera of the AGV forklift;
and sending the bearing tray image as a first image to a mobile terminal device.
Further, mobile terminal acquires through first image AGV fork truck with actual position angle between the bearing tray is right according to the actual position angle AGV fork truck carries out position adjustment and makes AGV fork truck removes to the standard position angle, includes:
the mobile terminal equipment obtains specification parameters corresponding to the bearing tray and an actual position angle between the AGV forklift and the bearing tray by identifying the bearing tray contained in the first image;
the mobile terminal device calls a preset standard position angle corresponding to the specification parameter according to the specification parameter;
the mobile terminal equipment compares the actual position angle with a standard position angle to obtain a position adjustment angle, and sends the position adjustment angle to an AGV forklift;
and the AGV forklift carries out position adjustment according to the position adjustment angle until the AGV forklift moves to the standard position angle.
Further, after the position is adjusted, acquiring a second image of the current bearing tray through a camera of the AGV forklift and sending the second image to the mobile terminal equipment; mobile terminal carries out tray positioning control to AGV fork truck through the second image, include:
after the position is adjusted, acquiring a second image of the current bearing tray through a camera of the AGV forklift and sending the second image to the mobile terminal equipment;
the mobile terminal equipment carries out bearing tray position positioning identification on the second image through a deep learning CenterNet network to obtain bearing tray positioning information;
and sending the bearing tray positioning information to an AGV fork truck, receiving the bearing tray positioning information by the AGV fork truck, and picking up the bearing trays according to the bearing tray positioning information.
Tray positioning system based on mobile terminal equipment, tray positioning system includes:
the image acquisition module is used for acquiring a first image of the bearing tray through an AGV forklift camera and sending the first image to the mobile terminal equipment;
the position adjusting module is used for acquiring an actual position angle between the AGV fork truck and the bearing tray through a first image by the mobile terminal equipment, and adjusting the position of the AGV fork truck according to the actual position angle to enable the AGV fork truck to move to a standard position angle;
the positioning module is used for acquiring a second image of the current bearing tray through the camera of the AGV forklift after the position is adjusted and sending the second image to the mobile terminal equipment; and the mobile terminal equipment performs tray positioning control on the AGV forklift through the second image.
Further, the image acquisition module comprises:
the forklift operation control module is used for controlling the AGV to operate to the bearing tray according to the bearing discharging condition by the mobile terminal equipment through the specification parameters of the bearing tray and the bearing discharging number;
the first acquisition module is used for acquiring a bearing tray image by using an AGV after the AGV moves to the position of the bearing tray;
and the image sending module is used for sending the bearing tray image as a first image to the mobile terminal equipment.
Further, the position adjustment module includes:
the angle acquisition module is used for acquiring specification parameters corresponding to the bearing tray and an actual position angle between the AGV forklift and the bearing tray by the mobile terminal equipment through identifying the bearing tray contained in the first image;
the angle calling module is used for calling a preset standard position angle corresponding to the specification parameter by the mobile terminal equipment according to the specification parameter;
the angle sending module is used for comparing the actual position angle with a standard position angle by the mobile terminal equipment, acquiring a position adjusting angle and sending the position adjusting angle to the AGV forklift;
and the angle adjusting module is used for adjusting the position of the AGV forklift according to the position adjusting angle until the AGV forklift moves to the standard position angle.
Further, the positioning module comprises:
the second acquisition module is used for acquiring a second image of the current bearing tray through the camera of the AGV forklift after the position is adjusted and sending the second image to the mobile terminal equipment;
the positioning identification module is used for carrying out positioning identification on the position of the bearing tray on the second image through the deep learning CenterNet by the mobile terminal equipment to obtain positioning information of the bearing tray;
and the pickup control module is used for sending the bearing tray positioning information to the AGV forklift, and the AGV forklift receives the bearing tray positioning information and picks up the bearing trays according to the bearing tray positioning information.
The readable storage medium based on the tray positioning method of the mobile terminal equipment comprises a stored program, wherein when the program runs, a device where the readable storage medium is located is controlled to execute any one of the tray positioning methods.
The tray positioning device based on the mobile terminal equipment comprises the mobile terminal equipment, a plurality of AGV forklifts and bearing manufacturing equipment; the forklift signal interaction end of the mobile terminal equipment is connected with the operation signal interaction ends of the AGV forklifts in a wireless connection mode; the discharging signal input end of the mobile terminal device is connected with the discharging signal output end of the bearing manufacturing device;
wherein, the mobile terminal device comprises:
a memory for storing a program;
and the processor is used for calling and running a stored program in the memory so as to execute any one of the tray positioning methods.
The invention has the beneficial effects that:
according to the tray positioning method, system, device and medium based on the mobile terminal equipment, the position angle between the body of the AGV forklift and the bearing tray is adjusted before the bearing tray is positioned and picked up in a mode that the standard position angle between the AGV forklift and the bearing tray is set in a targeted mode according to different size parameters of the bearing tray, and then the bearing tray is picked up according to the standard position angle after the bearing tray is positioned. The arrangement of the position angle between the AGV forklift body and the bearing tray is combined with the arrangement of the bearing tray grabbing points of the AGV forklift, so that the picking stability of the AGV forklift to the bearing tray is effectively improved, and the stability of the bearing tray in the transportation process is improved. Effectively prevent that the problem that the tray drops from appearing taking place in AGV fork truck transportation.
On the other hand, position adjustment and tray location of a plurality of AGV fork trucks are controlled in a unified mode through the mobile terminal equipment, and under the condition that the quantity of the AGV fork trucks is large, the consistency of control standards and the control uniformity of the mobile terminal equipment for the operation of the AGV fork trucks are effectively improved, and then the supervision timeliness and the management and control strength of the mobile terminal equipment for the operation real situation of the AGV fork trucks are effectively improved.
Drawings
FIG. 1 is a first flowchart of a method for positioning a tray according to the present invention;
FIG. 2 is a second flowchart of a method for positioning a tray according to the present invention;
FIG. 3 is a third flowchart of the method for positioning a tray according to the present invention;
FIG. 4 is a fourth flowchart of the pallet positioning method of the present invention;
FIG. 5 is a system block diagram of a pallet positioning system according to the present invention;
FIG. 6 is a schematic system diagram of the pallet positioning apparatus of the present invention;
FIG. 7 is a schematic view of a standard position angle according to the present invention;
(1, a bearing tray; 2, a bearing placing groove; 3, a central axis of the bearing tray in the longitudinal direction; 4, an AGV forklift; 5, a plane where the central line of the AGV forklift is located).
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1
The embodiment provides a tray positioning method based on mobile terminal equipment, and as shown in fig. 1, the tray positioning method includes:
s1, collecting a first image of a bearing tray through a camera of an AGV forklift, and sending the first image to mobile terminal equipment;
s2, the mobile terminal equipment acquires an actual position angle between the AGV forklift and the bearing tray through a first image, and adjusts the position of the AGV forklift according to the actual position angle so that the AGV forklift moves to a standard position angle;
s3, after the position is adjusted, acquiring a second image of the current bearing tray through a camera of the AGV forklift and sending the second image to the mobile terminal equipment; and the mobile terminal equipment performs tray positioning control on the AGV forklift through the second image.
The working principle and the effect of the technical scheme are as follows: in the embodiment, the AGV forklift is controlled by the mobile terminal device to move to the bearing tray according to the bearing discharging condition, the image of the bearing tray is collected by the AGV forklift with a camera, the image is used as a first image, and the first image is sent to the mobile terminal device; the mobile terminal equipment can adopt intelligent mobile terminal equipment such as a mobile phone and a tablet personal computer. The mobile terminal equipment acquires an actual position angle between the AGV forklift and the bearing tray through a first image, and controls the AGV forklift to move to a standard position angle according to the actual position angle; acquiring a current bearing tray image as a second image and sending the second image to the mobile terminal equipment by the aid of a camera carried by the AGV forklift after the AGV forklift moves to the standard position angle; and the mobile terminal equipment performs tray positioning control on the AGV forklift through the second image.
When bearing or picking up a bearing tray, no matter how the specification of the bearing tray parameter changes, one edge of the bearing tray is always kept parallel to the body of the AGV forklift, the bearing and picking-up mode is more convenient to carry and pick up the action with the AGV forklift, and then the operation simplicity and the action self-moving efficiency of the bearing and picking-up actions are improved. However, the positional relationship that one side of the bearing tray is parallel to the body of the AGV is that when the AGV encounters obstacles to sudden braking or bumping, because the parallel relationship lacks a force releasing angle, inertia in sudden braking or bumping is often caused to completely act on the bearing tray, and meanwhile, because a large number of bearings are mounted on the bearing tray, the mass of the bearing tray is increased.
According to the tray positioning method based on the mobile terminal device, the position angle between the body of the AGV forklift and the bearing tray is adjusted before the bearing tray is positioned and picked up in a mode that the standard position angle between the AGV forklift and the bearing tray is set according to the size parameters of different bearing trays, and then the bearing tray is picked up according to the standard position angle after the bearing tray is positioned. The setting of the position angle through between AGV fork truck's automobile body and the bearing tray combines AGV fork truck to the setting of bearing tray point of grabbing, can realize the earial force dynamics of inertial action to the bearing tray furthest of different specification parameters, and then reduces the influence of inertial action to the bearing tray under emergency braking or the state of jolting, effectively improves AGV fork truck to the steadiness of picking up of bearing tray to and the steadiness of bearing tray in the transit. Effectively prevent that the problem that the tray drops from appearing in AGV fork truck transportation from taking place.
On the other hand, position adjustment and tray location of a plurality of AGV fork trucks are controlled in a unified mode through the mobile terminal equipment, and under the condition that the quantity of the AGV fork trucks is large, the consistency of control standards and the control uniformity of the mobile terminal equipment for the operation of the AGV fork trucks are effectively improved, and then the supervision timeliness and the management and control strength of the mobile terminal equipment for the operation real situation of the AGV fork trucks are effectively improved.
Example 2
In this embodiment, as shown in fig. 2, acquiring a first image of a bearing tray by an AGV forklift with a camera, and sending the first image to a mobile terminal device includes:
s101, the mobile terminal equipment controls an AGV to move to a bearing tray according to the bearing discharging condition through the specification parameters of the bearing tray and the bearing discharging number;
s102, collecting a bearing tray image by using an AGV with a camera after the AGV moves to the position of the bearing tray;
s103, sending the bearing tray image as a first image to a mobile terminal device.
Wherein, mobile terminal passes through bearing tray's specification parameter and bearing unloading number control AGV fork truck and moves to bearing tray department according to bearing ejection of compact condition, includes:
s1011, the mobile terminal equipment acquires specification parameters of the bearing tray, wherein the specification parameters comprise the length and the width of the bearing tray and the total number of bearings borne by the bearing tray;
s1012, the mobile terminal equipment receives the bearing blanking number of a bearing blanking port of the bearing manufacturing equipment in real time, and determines the loading degree of the bearing tray according to the bearing blanking number;
s1013, when the loading degree of the bearing tray reaches a preset loading threshold value, the mobile terminal device moves the unloaded AGV forklift which is closest to the linear distance of the bearing blanking opening to the bearing tray according to the closest route;
specifically, the loading threshold is set according to the following principle:
principle one: when the total number N of bearings carried by the bearing tray does not exceed 10, setting N =1/2N, or N =1/2 (N + 1); specifically, when the total number of bearings is even, the loading threshold is set to N =1/2N; when the total number of bearings is odd, the loading threshold is set to N =1/2 (N + 1);
principle two: when the total number N of bearings carried by the bearing tray exceeds 10, the loading threshold is set to N =0.7N, and N is rounded down.
The working principle and the effect of the technical scheme are as follows: by the aid of the mode, control efficiency of the mobile terminal device on the AGV forklift can be effectively improved, loading time of the bearing tray is guaranteed, and speed and timeliness of the AGV forklift timely reaching the corresponding position of the bearing feed opening are improved. Thereby improving the carrying efficiency of the bearing tray. Simultaneously, the principle of setting through above-mentioned loading threshold value can combine the different specification and dimension of bearing tray to provide the biggest buffering time for AGV fork truck moves to the bearing feed opening, effectively improves the rationality that the buffering time set up. Can enough prevent that the bearing tray loading that the buffer time short leads to from finishing lacking the problem emergence that AGV fork truck in time appeared picking up the transport, can prevent again that the buffer time overlength from leading to when AGV fork truck reachs the bearing feed opening, the bearing tray is not finished loading and is led to causing the problem emergence of AGV fork truck latency overlength.
Example 3
In this embodiment, as shown in fig. 3, the mobile terminal device obtains through the first image the AGV fork truck with the actual position angle between the bearing tray is right according to the actual position angle the AGV fork truck carries out position adjustment and makes the AGV fork truck move to the standard position angle, and includes:
s201, the mobile terminal equipment obtains specification parameters corresponding to the bearing tray and an actual position angle between the AGV forklift and the bearing tray by identifying the bearing tray contained in the first image;
s202, the mobile terminal device calls a preset standard position angle corresponding to the specification parameter according to the specification parameter;
s203, the mobile terminal equipment compares the actual position angle with a standard position angle to obtain a position adjusting angle, and sends the position adjusting angle to the AGV forklift;
and S204, adjusting the position of the AGV forklift according to the position adjustment angle until the AGV forklift moves to the standard position angle.
Specifically, the mobile terminal device sets standard position angles corresponding to the various types of bearing trays by using an angle setting model according to the stored specification parameters corresponding to the various types of bearing trays, and stores the standard position angles corresponding to the various types of bearing trays in a database of the mobile terminal device; wherein, actual position angle and standard position angle specifically are AGV fork truck central line place plane respectively with actual contained angle and standard contained angle between the axis of bearing tray longitudinal direction, and, the angle sets up the model as follows:
wherein α represents a standard position angle; d and L respectively represent the long side size and the wide side size of the bearing tray; m and n respectively represent the placing number of the single-row bearings in the longitudinal direction and the transverse direction of the bearing tray; alpha (alpha) ("alpha") 01 And alpha 02 Respectively represent a first reference angle and a second reference angle, wherein the first reference angle ranges from 30 degrees to 45 degrees, preferably 45 degrees, the second reference angle ranges from 12 degrees to 22.5 degrees, preferably: 15.7 °, less preferably 22.5 °; r represents the radius of the bearing placing groove in the tray;
the working principle and the effect of the technical scheme are as follows: according to the tray positioning method based on the mobile terminal equipment, the position angle between the body of the AGV forklift and the bearing tray is adjusted before the bearing tray is positioned and picked up in a mode of pertinently setting the standard position angle between the AGV forklift and the bearing tray according to the size parameters of different bearing trays, and then the bearing tray is picked up according to the standard position angle after the bearing tray is positioned. The setting of the position angle between the automobile body and the bearing tray through AGV fork truck combines AGV fork truck to the setting of bearing tray grabbing point, can realize the power of releasing dynamics of inertial action to the bearing tray furthest of different specification parameters, and then reduces the impact of inertial action to the bearing tray under emergency braking or the state of jolting, effectively improves AGV fork truck to the steadiness of picking up of bearing tray to and the steadiness of bearing tray in the transportation. Effectively prevent that the problem that the tray drops from appearing taking place in AGV fork truck transportation.
Meanwhile, the standard position angle obtained by combining the tray length and width factors and the radius R of the groove for placing the bearing in the tray through the angle setting model can meet the matching between the standard position angle and the length and width proportion of the bearing tray to the maximum extent, and further the obtained standard position angle can realize the maximum force release effect. Thereby improving the stability of the bearing tray in the transportation process and the capability of resisting the influence of external force to the maximum extent.
Example 4
In this embodiment, as shown in fig. 4, after the position adjustment, the AGV collects a second image of the current bearing tray through a camera of the AGV and sends the second image to the mobile terminal device; mobile terminal carries out tray positioning control to AGV fork truck through the second image, include:
s301, after the position is adjusted, acquiring a second image of the current bearing tray through a camera of the AGV forklift and sending the second image to the mobile terminal equipment;
s302, the mobile terminal device conducts bearing tray position locating identification on the second image through a deep learning CenterNet network to obtain bearing tray locating information;
s303, will bearing tray positioning information sends to AGV fork truck, AGV fork truck is receiving behind the bearing tray positioning information, picks up bearing tray according to bearing tray positioning information.
The mobile terminal device performs bearing tray position locating recognition on the second image through a deep learning centrnet network model to obtain bearing tray locating information, and the method comprises the following steps:
s3021, vertex angle mark points of the bearing tray are obtained through the second image, the size of the second image is adjusted to be a standard image size, and a standard image to be measured is obtained, wherein the vertex angle mark points are located at four vertex positions of the bearing tray, and the standard image size comprises 128 × 128, 512 × 512 and/or 1024 × 1024;
s3022, performing feature processing on the standard image to be detected by using a CenterNet network to obtain a thermal feature map, and detecting the vertex angle mark points according to the thermal feature map to obtain accurate positions of the vertex angle mark points; and the accurate position of the vertex angle mark point is the positioning information of the bearing tray.
S3023, in the process that the AGV forklift picks up the bearing tray, the nearest vertex close to the body of the AGV forklift serves as a starting point, another adjacent vertex corresponding to the end of the edge of the two trays along the starting point serves as a picking point, and the bearing tray is picked up according to the standard position angle.
The working principle and the effect of the technical scheme are as follows: can effectively improve tray location efficiency and tray location accuracy through the mode, simultaneously, the setting of the position angle between the automobile body that combines AGV fork truck through the setting of picking up point and the bearing tray can be to the bearing tray furthest of different specification parameters realization inertia effect's discharge force dynamics, and then reduce under emergency brake or the state of jolting inertia effort to the bearing tray's influence, effectively improve AGV fork truck to the bearing tray pick up the steadiness, and bearing tray's steadiness in the transit. Effectively prevent that the problem that the tray drops from appearing in AGV fork truck transportation from taking place.
Example 5
This embodiment proposes a tray positioning system based on mobile terminal device, as shown in fig. 5, the tray positioning system includes:
the system comprises an image acquisition module, a mobile terminal device and a monitoring module, wherein the image acquisition module is used for acquiring a first image of a bearing tray through a camera of an AGV forklift and sending the first image to the mobile terminal device;
the position adjusting module is used for acquiring an actual position angle between the AGV fork truck and the bearing tray through a first image by the mobile terminal equipment, and adjusting the position of the AGV fork truck according to the actual position angle to enable the AGV fork truck to move to a standard position angle;
the positioning module is used for acquiring a second image of the current bearing tray through a camera of the AGV forklift after the position is adjusted and sending the second image to the mobile terminal equipment; and the mobile terminal equipment performs tray positioning control on the AGV forklift through the second image.
The working principle of the technical scheme is as follows: the operation process of the tray positioning system comprises the following steps:
firstly, an image acquisition module is used for controlling the AGV forklift to acquire a first image of a bearing tray through a camera of the AGV forklift, and the first image is sent to mobile terminal equipment;
then, controlling mobile terminal equipment to acquire an actual position angle between the AGV fork truck and the bearing tray through a first image through a position adjusting module, and adjusting the position of the AGV fork truck according to the actual position angle to enable the AGV fork truck to move to a standard position angle;
finally, after the positioning module is adopted for position adjustment, the AGV forklift is controlled to acquire a second image of the current bearing tray through a camera of the AGV forklift and send the second image to the mobile terminal equipment; and the mobile terminal equipment performs tray positioning control on the AGV forklift through the second image.
When bearing or picking up the bearing tray, no matter how the specification of the bearing tray changes, the AGV fork truck in the prior art usually ensures that one edge of the bearing tray is parallel to the body of the AGV fork truck, the bearing and picking-up mode is more convenient to carry and pick up the execution of the action with the AGV fork truck, and then the operation simplicity and the action self-moving efficiency of the bearing and picking-up action are improved. However, the positional relationship that one side of the bearing tray is parallel to the body of the AGV is that when the AGV encounters obstacles to sudden braking or bumping, because the parallel relationship lacks a force releasing angle, inertia in sudden braking or bumping is often caused to completely act on the bearing tray, and meanwhile, because a large number of bearings are mounted on the bearing tray, the mass of the bearing tray is increased.
The effect of the above technical scheme is as follows: the tray positioning system based on mobile terminal equipment that this embodiment provided adjusts the position angle between AGV fork truck's automobile body and the bearing tray before carrying out location picking to the bearing tray through the mode that sets up the standard position angle between AGV fork truck and the bearing tray according to different bearing tray size parameter pertinence, then, carries out picking up of bearing tray according to the standard position angle after the bearing tray location. The setting of the position angle between the automobile body and the bearing tray through AGV fork truck combines AGV fork truck to the setting of bearing tray grabbing point, can realize the power of releasing dynamics of inertial action to the bearing tray furthest of different specification parameters, and then reduces the impact of inertial action to the bearing tray under emergency braking or the state of jolting, effectively improves AGV fork truck to the steadiness of picking up of bearing tray to and the steadiness of bearing tray in the transportation. Effectively prevent that the problem that the tray drops from appearing taking place in AGV fork truck transportation.
On the other hand, position adjustment and tray location of a plurality of AGV fork trucks are controlled in a unified mode through the mobile terminal equipment, and under the condition that the quantity of the AGV fork trucks is large, the consistency of control standards and the control uniformity of the mobile terminal equipment for the operation of the AGV fork trucks are effectively improved, and then the supervision timeliness and the management and control strength of the mobile terminal equipment for the operation real situation of the AGV fork trucks are effectively improved.
Example 6
In this embodiment, as shown in fig. 5, the image capturing module includes:
the forklift operation control module is used for controlling the AGV forklift to operate to the bearing tray according to the bearing discharging condition through the specification parameters of the bearing tray and the bearing discharging number of the mobile terminal equipment;
the first acquisition module is used for acquiring a bearing tray image by using a camera carried by the AGV forklift after the AGV forklift runs to the bearing tray;
and the image sending module is used for sending the bearing tray image as a first image to the mobile terminal equipment.
Wherein, fork truck operation control module includes:
the parameter acquisition module is used for acquiring specification parameters of the bearing tray by the mobile terminal equipment, wherein the specification parameters comprise the length and the width of the bearing tray and the total number of bearings borne by the bearing tray;
the loading degree judging module is used for receiving the bearing blanking number of a bearing blanking port of the bearing manufacturing equipment in real time by the mobile terminal equipment and determining the loading degree of the bearing tray according to the bearing blanking number;
the operation control module is used for enabling the mobile terminal equipment to operate an unloaded AGV forklift which is closest to the bearing blanking opening in a straight line to the bearing tray according to the closest route when the loading degree of the bearing tray reaches a preset loading threshold; wherein the loading threshold is set by the following principle:
principle one: when the total number N of bearings carried by the bearing tray does not exceed 10, setting N =1/2N, or N =1/2 (N + 1); specifically, when the total number of bearings is even, the loading threshold is set to N =1/2N; when the total number of bearings is odd, the loading threshold is set to N =1/2 (N + 1);
principle two: when the total number N of bearings carried by the bearing tray exceeds 10, the loading threshold is set to be N =0.7N, and N is rounded down.
The working principle of the technical scheme is as follows: the operation process of the image acquisition module comprises the following steps:
firstly, a forklift operation control module is used for controlling the mobile terminal equipment to control an AGV forklift to operate to a bearing tray according to the bearing discharging condition through the specification parameters of the bearing tray and the bearing discharging number;
then, after the AGV forklift is controlled to run to the position of the bearing tray through the first acquisition module, the AGV forklift is used for acquiring a bearing tray image by using a camera carried by the AGV forklift;
and finally, the bearing tray image is sent to the mobile terminal device as a first image by adopting an image sending module.
Specifically, the operation process of the forklift operation control module comprises the following steps:
firstly, controlling the mobile terminal equipment to acquire specification parameters of the bearing tray through a parameter acquisition module, wherein the specification parameters comprise the length and the width of the bearing tray and the total number of bearings borne by the bearing tray;
then, controlling the mobile terminal equipment to receive the bearing blanking number of a bearing blanking port of the bearing manufacturing equipment in real time by using a loading degree judging module, and determining the loading degree of the bearing tray according to the bearing blanking number;
finally, when the loading degree of the bearing tray reaches a preset loading threshold value, the mobile terminal equipment operates the unloaded AGV forklift which is closest to the bearing blanking opening in a straight line to the position of the bearing tray according to the closest route through an operation control module; wherein the loading threshold is set by the following principle:
the effect of the above technical scheme is as follows: by the aid of the method, control efficiency of the mobile terminal device on the AGV forklift can be effectively improved, loading time of the AGV forklift is guaranteed to be completed on the bearing tray, and speed and timeliness of the AGV forklift timely reaching the corresponding position of the bearing feed opening are improved. Thereby improving the carrying efficiency of the bearing tray. Simultaneously, the principle of setting through above-mentioned loading threshold value can combine the different specification and dimension of bearing tray to provide the biggest buffering time for AGV fork truck moves to the bearing feed opening, effectively improves the rationality that the buffering time set up. Can enough prevent that the bearing tray loading that the buffer time short leads to from finishing lacking the problem emergence that AGV fork truck in time appeared picking up the transport, can prevent again that the buffer time overlength from leading to when AGV fork truck reachs the bearing feed opening, the bearing tray is not finished loading and is led to causing the problem emergence of AGV fork truck latency overlength.
Example 7
In this embodiment, as shown in fig. 5, the position adjustment module includes:
the angle acquisition module is used for acquiring specification parameters corresponding to the bearing tray and an actual position angle between the AGV forklift and the bearing tray by the mobile terminal equipment through identifying the bearing tray contained in the first image;
and the angle calling module is used for calling a preset standard position angle corresponding to the specification parameter by the mobile terminal equipment according to the specification parameter.
Specifically, the mobile terminal device sets standard position angles corresponding to the various types of bearing trays by using an angle setting model according to specification parameters corresponding to the stored bearing trays of various types, and stores the standard position angles corresponding to the bearing trays of various types in a database of the mobile terminal device; wherein, actual position angle and standard position angle specifically are AGV fork truck central line place plane respectively with actual contained angle and standard contained angle between the axis of bearing tray longitudinal direction, and, the angle sets up the model as follows:
wherein α represents a standard position angle; d and L respectively represent the long side size and the wide side size of the bearing tray; m and n respectively represent the placing number of the single-row bearings in the longitudinal direction and the transverse direction of the bearing tray; alpha is alpha 01 And alpha 02 Respectively representing a first reference angle and a second reference angle, wherein the first reference angle ranges from 30 degrees to 45 degrees, preferably 45 degrees, the second reference angle ranges from 12 degrees to 22.5 degrees, preferably: 15.7 °, less preferably 22.5 °:
the angle sending module is used for comparing the actual position angle with a standard position angle by the mobile terminal equipment, acquiring a position adjusting angle and sending the position adjusting angle to the AGV forklift;
and the angle adjusting module is used for adjusting the position of the AGV forklift according to the position adjusting angle until the AGV forklift moves to the standard position angle.
The working principle of the technical scheme is as follows: the operation process of the position adjusting module comprises the following steps:
firstly, controlling the mobile terminal equipment to obtain specification parameters corresponding to a bearing tray and an actual position angle between the AGV forklift and the bearing tray by an angle acquisition module through identifying the bearing tray contained in a first image;
then, an angle calling module is used for controlling the mobile terminal equipment to call a preset standard position angle corresponding to the specification parameter according to the specification parameter;
specifically, the mobile terminal device sets standard position angles corresponding to the various types of bearing trays by using an angle setting model according to specification parameters corresponding to the stored bearing trays of various types, as shown in fig. 7, and stores the standard position angles corresponding to the bearing trays of various types into a database of the mobile terminal device; wherein, actual position angle and standard position angle respectively specifically be AGV fork truck central line place plane with actual contained angle and standard contained angle between the axis of bearing tray longitudinal direction, and, the angle sets up the model as follows:
wherein α represents a standard position angle; d and L respectively represent the long side size and the wide side size of the bearing tray; m and n respectively represent the placing number of the single-row bearings in the longitudinal direction and the transverse direction of the bearing tray; alpha is alpha 01 And alpha 02 Respectively represent a first reference angle and a second reference angle, and the value range of the first reference angleIs 30 to 45 degrees, preferably 45 degrees, and the second reference angle ranges from 12 to 22.5 degrees, preferably: 15.7 °, less preferably 22.5 °:
then, an angle sending module is adopted to control the mobile terminal equipment to compare the actual position angle with a standard position angle, a position adjusting angle is obtained, and the position adjusting angle is sent to an AGV forklift;
and finally, controlling the AGV forklift by using an angle adjusting module to adjust the position according to the position adjusting angle until the AGV forklift moves to the standard position angle.
The effect of the above technical scheme is as follows: according to the tray positioning method based on the mobile terminal equipment, the position angle between the body of the AGV forklift and the bearing tray is adjusted before the bearing tray is positioned and picked up in a mode of pertinently setting the standard position angle between the AGV forklift and the bearing tray according to the size parameters of different bearing trays, and then the bearing tray is picked up according to the standard position angle after the bearing tray is positioned. The setting of the position angle between the automobile body and the bearing tray through AGV fork truck combines AGV fork truck to the setting of bearing tray grabbing point, can realize the power of releasing dynamics of inertial action to the bearing tray furthest of different specification parameters, and then reduces the impact of inertial action to the bearing tray under emergency braking or the state of jolting, effectively improves AGV fork truck to the steadiness of picking up of bearing tray to and the steadiness of bearing tray in the transportation. Effectively prevent that the problem that the tray drops from appearing taking place in AGV fork truck transportation.
Meanwhile, the standard position angle obtained by combining the tray length and width factors and the radius R of the bearing placing groove in the tray through the angle setting model can meet the matching between the standard position angle and the length and width ratio of the bearing tray to the maximum extent, and further the obtained standard position angle can realize the maximum force leakage effect. Thereby improving the stability of the bearing tray in the transportation process and the capability of resisting the influence of external force to the maximum extent.
Example 8
In this embodiment, as shown in fig. 5, the positioning module includes:
the second acquisition module is used for acquiring a second image of the current bearing tray through the camera of the AGV forklift after the position is adjusted and sending the second image to the mobile terminal equipment;
the positioning identification module is used for the mobile terminal equipment to perform bearing tray position positioning identification on the second image through a deep learning CenterNet network to obtain bearing tray positioning information;
and the pickup control module is used for sending the bearing tray positioning information to the AGV forklift, and the AGV forklift receives the bearing tray positioning information and picks up the bearing tray according to the bearing tray positioning information.
Wherein the location identification module comprises:
the marking module is used for acquiring vertex angle marking points of the bearing tray through the second image, adjusting the size of the second image into a standard image size and acquiring a standard image to be detected, wherein the vertex angle marking points are positioned at four vertex positions of the bearing tray, and the standard image size comprises 128 multiplied by 128, 512 multiplied by 512 and/or 1024 multiplied by 1024;
the characteristic processing module is used for carrying out characteristic processing on the standard image to be detected by utilizing a CenterNet network to obtain a thermal characteristic diagram, detecting the vertex angle marking points according to the thermal characteristic diagram and obtaining the accurate positions of the vertex angle marking points; and the accurate position of the vertex angle mark point is the bearing tray positioning information.
And the pick-up control module is used for taking the nearest vertex close to the body of the AGV forklift as a starting point in the process of picking up the bearing tray, taking the other adjacent vertex corresponding to the end of the two tray edges of the starting point as a pick-up point, and picking up the bearing tray according to a standard position angle.
The working principle of the technical scheme is as follows: the operation process of the positioning module comprises the following steps:
firstly, after the position is adjusted through a second acquisition module, acquiring a second image of a current bearing tray through an AGV forklift camera and sending the second image to mobile terminal equipment;
then, a positioning identification module is used for controlling the mobile terminal equipment to perform bearing tray position positioning identification on the second image through a deep learning CenterNet network, and bearing tray positioning information is obtained;
and finally, the bearing tray positioning information is sent to the AGV forklift by adopting a pickup control module, and the AGV forklift receives the bearing tray positioning information and picks up the bearing tray according to the bearing tray positioning information.
Wherein, the operation process of the positioning identification module comprises the following steps:
firstly, a marking module is adopted to obtain vertex angle marking points of the bearing tray through the second image, the size of the second image is adjusted to be a standard image size, and a standard image to be measured is obtained, wherein the vertex angle marking points are located at four vertex positions of the bearing tray, and the standard image size comprises 128 multiplied by 128, 512 multiplied by 512 and/or 1024 multiplied by 1024;
then, a feature processing module utilizes a CenterNet network to perform feature processing on the standard image to be detected to obtain a thermal feature map, and the vertex angle marking points are detected according to the thermal feature map to obtain accurate positions of the vertex angle marking points; and the accurate position of the vertex angle mark point is the bearing tray positioning information.
And finally, controlling the AGV forklift by adopting a pickup control module in the process of picking up the bearing tray, taking the nearest vertex close to the self forklift as a starting point, taking the other adjacent vertex corresponding to the end of the two tray edges of the starting point as a pickup point, and picking up the bearing tray according to the standard position angle.
The effect of the above technical scheme is: can effectively improve tray location efficiency and tray location accuracy through the mode, simultaneously, the setting of the position angle between the automobile body that combines AGV fork truck through the setting of picking up point and the bearing tray can be to the bearing tray furthest of different specification parameters realization inertia effect's discharge force dynamics, and then reduce under emergency brake or the state of jolting inertia effort to the bearing tray's influence, effectively improve AGV fork truck to the bearing tray pick up the steadiness, and bearing tray's steadiness in the transit. Effectively prevent that the problem that the tray drops from appearing in AGV fork truck transportation from taking place.
Example 9
The present embodiment proposes a readable storage medium based on a tray positioning method of a mobile terminal device, where the readable storage medium includes a stored program, and when the program runs, the apparatus on which the readable storage medium is controlled to execute the tray positioning method according to any one of embodiments 1 to 4.
When bearing or picking up a bearing tray, no matter how the specification of the bearing tray parameter changes, one edge of the bearing tray is always kept parallel to the body of the AGV forklift, the bearing and picking-up mode is more convenient to carry and pick up the action with the AGV forklift, and then the operation simplicity and the action self-moving efficiency of the bearing and picking-up actions are improved. However, the positional relationship that one side of the bearing tray is parallel to the body of the AGV is that when the AGV encounters obstacles to sudden braking or bumping, because the parallel relationship lacks a force releasing angle, inertia in sudden braking or bumping is often caused to completely act on the bearing tray, and meanwhile, because a large number of bearings are mounted on the bearing tray, the mass of the bearing tray is increased.
The embodiment provides a tray positioning method for controlling a device where the readable storage medium is located to execute by a program stored in the readable storage medium when the program runs, the method can adjust the position angle between the body of the AGV and the bearing tray before positioning and picking up the bearing tray according to the standard position angle in a mode of pertinently setting the standard position angle between the AGV and the bearing tray according to the size parameters of different bearing trays, and then pick up the bearing tray according to the standard position angle after positioning the bearing tray. The setting of the position angle between the automobile body and the bearing tray through AGV fork truck combines AGV fork truck to the setting of bearing tray grabbing point, can realize the power of releasing dynamics of inertial action to the bearing tray furthest of different specification parameters, and then reduces the impact of inertial action to the bearing tray under emergency braking or the state of jolting, effectively improves AGV fork truck to the steadiness of picking up of bearing tray to and the steadiness of bearing tray in the transportation. Effectively prevent that the problem that the tray drops from appearing taking place in AGV fork truck transportation.
On the other hand, position adjustment and tray positioning of a plurality of AGV fork trucks are controlled in a unified mode through the mobile terminal device, the consistency of control standards and the control uniformity of the mobile terminal device for the operation of the AGV fork trucks can be effectively improved under the condition that the number of the AGV fork trucks is large, and then the supervision timeliness and the management and control strength of the mobile terminal device for the operation of the AGV fork trucks are effectively improved.
Example 10
The embodiment provides a tray positioning device based on mobile terminal equipment, and as shown in fig. 6, the tray positioning device comprises the mobile terminal equipment, a plurality of AGV forklifts and bearing manufacturing equipment; the forklift signal interaction end of the mobile terminal equipment is connected with the operation signal interaction ends of the AGV forklifts in a wireless connection mode; and the discharging signal input end of the mobile terminal equipment is connected with the discharging signal output end of the bearing manufacturing equipment. The bearing discharge number of the bearing manufacturing equipment can be detected and measured through a counter or a sensor.
Specifically, the mobile terminal device includes:
a memory for storing a program;
a processor, configured to call and run a stored program in the memory to perform the tray positioning method according to any one of embodiments 1 to 4.
The tray positioning device based on the mobile terminal equipment provided by the embodiment adjusts the position angle between the body of the AGV forklift and the bearing tray before positioning and picking up the bearing tray through the mode of pertinently setting the standard position angle between the AGV forklift and the bearing tray according to the size parameters of different bearing trays, and then picking up the bearing tray according to the standard position angle after positioning the bearing tray. The setting of the position angle through between AGV fork truck's automobile body and the bearing tray combines AGV fork truck to the setting of bearing tray point of grabbing, can realize the earial force dynamics of inertial action to the bearing tray furthest of different specification parameters, and then reduces the influence of inertial action to the bearing tray under emergency braking or the state of jolting, effectively improves AGV fork truck to the steadiness of picking up of bearing tray to and the steadiness of bearing tray in the transit. Effectively prevent that the problem that the tray drops from appearing in AGV fork truck transportation from taking place.
On the other hand, position adjustment and tray location of a plurality of AGV fork trucks are controlled in a unified mode through the mobile terminal equipment, and under the condition that the quantity of the AGV fork trucks is large, the consistency of control standards and the control uniformity of the mobile terminal equipment for the operation of the AGV fork trucks are effectively improved, and then the supervision timeliness and the management and control strength of the mobile terminal equipment for the operation real situation of the AGV fork trucks are effectively improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The tray positioning method based on the mobile terminal equipment is characterized by comprising the following steps:
acquiring a first image of a bearing tray through an AGV forklift with a camera, and sending the first image to a mobile terminal device;
the method comprises the steps that a mobile terminal device obtains an actual position angle between an AGV fork truck and a bearing tray through a first image, and adjusts the position of the AGV fork truck according to the actual position angle to enable the AGV fork truck to move to a standard position angle;
after the position is adjusted, acquiring a second image of the current bearing tray through a camera of the AGV forklift and sending the second image to the mobile terminal equipment; and the mobile terminal equipment performs tray positioning control on the AGV forklift through the second image.
2. The tray positioning method according to claim 1, wherein the step of collecting a first image of the bearing tray by an AGV forklift with a camera and sending the first image to the mobile terminal device comprises:
the mobile terminal equipment controls the AGV to move to the bearing tray according to the bearing discharging condition through the specification parameters of the bearing tray and the bearing discharging number;
after the AGV forklift runs to the position of the bearing tray, acquiring an image of the bearing tray by using a camera of the AGV forklift;
and sending the bearing tray image as a first image to a mobile terminal device.
3. The tray positioning method according to claim 1, wherein the mobile terminal device obtains an actual position angle between the AGV forklift and the bearing tray through the first image, and adjusts the position of the AGV forklift according to the actual position angle to move the AGV forklift to a standard position angle, and the method comprises:
the mobile terminal equipment obtains specification parameters corresponding to the bearing trays and actual position angles between the AGV forklift and the bearing trays by identifying the bearing trays contained in the first image;
the mobile terminal device calls a preset standard position angle corresponding to the specification parameter according to the specification parameter;
the mobile terminal equipment compares the actual position angle with a standard position angle to obtain a position adjusting angle, and sends the position adjusting angle to an AGV forklift;
and the AGV forklift carries out position adjustment according to the position adjustment angle until the AGV forklift moves to the standard position angle.
4. The tray positioning method according to claim 1, wherein after the position adjustment, a second image of the current bearing tray is acquired by an AGV forklift with a camera and sent to the mobile terminal device; mobile terminal carries out tray positioning control to AGV fork truck through the second image, include:
after the position is adjusted, acquiring a second image of the current bearing tray through a camera of the AGV forklift and sending the second image to the mobile terminal equipment;
the mobile terminal equipment performs bearing tray position positioning identification on the second image through a deep learning CenterNet network to obtain bearing tray positioning information;
and sending the bearing tray positioning information to an AGV fork truck, receiving the bearing tray positioning information by the AGV fork truck, and picking up the bearing trays according to the bearing tray positioning information.
5. Tray positioning system based on mobile terminal equipment, its characterized in that, tray positioning system includes:
the system comprises an image acquisition module, a mobile terminal device and a monitoring module, wherein the image acquisition module is used for acquiring a first image of a bearing tray through a camera of an AGV forklift and sending the first image to the mobile terminal device;
the position adjusting module is used for acquiring an actual position angle between the AGV forklift and the bearing tray through a first image by the mobile terminal equipment, and adjusting the position of the AGV forklift according to the actual position angle to enable the AGV forklift to move to a standard position angle;
the positioning module is used for acquiring a second image of the current bearing tray through the camera of the AGV forklift after the position is adjusted and sending the second image to the mobile terminal equipment; and the mobile terminal equipment performs tray positioning control on the AGV forklift through the second image.
6. The tray positioning system of claim 5, wherein the image acquisition module comprises:
the forklift operation control module is used for controlling the AGV forklift to operate to the bearing tray according to the bearing discharging condition through the specification parameters of the bearing tray and the bearing discharging number of the mobile terminal equipment;
the first acquisition module is used for acquiring a bearing tray image by using an AGV after the AGV moves to the position of the bearing tray;
and the image sending module is used for sending the bearing tray image as a first image to the mobile terminal equipment.
7. The tray positioning system of claim 5, wherein the position adjustment module comprises:
the angle acquisition module is used for acquiring specification parameters corresponding to the bearing tray and an actual position angle between the AGV forklift and the bearing tray by the mobile terminal equipment through identifying the bearing tray contained in the first image;
the angle calling module is used for calling a preset standard position angle corresponding to the specification parameter by the mobile terminal equipment according to the specification parameter;
the angle sending module is used for comparing the actual position angle with a standard position angle by the mobile terminal equipment, acquiring a position adjusting angle and sending the position adjusting angle to the AGV forklift;
and the angle adjusting module is used for adjusting the position of the AGV forklift according to the position adjusting angle until the AGV forklift moves to the standard position angle.
8. The tray positioning system of claim 5, wherein the positioning module comprises:
the second acquisition module is used for acquiring a second image of the current bearing tray through the camera of the AGV forklift after the position is adjusted and sending the second image to the mobile terminal equipment;
the positioning identification module is used for the mobile terminal equipment to perform bearing tray position positioning identification on the second image through a deep learning CenterNet network to obtain bearing tray positioning information;
and the pickup control module is used for sending the bearing tray positioning information to the AGV forklift, and the AGV forklift receives the bearing tray positioning information and picks up the bearing tray according to the bearing tray positioning information.
9. Readable storage medium of a tray positioning method based on mobile terminal equipment, which is characterized in that the readable storage medium comprises a stored program, wherein when the program runs, the apparatus where the readable storage medium is located is controlled to execute the tray positioning method according to any one of claims 1 to 4.
10. The tray positioning device based on the mobile terminal equipment is characterized by comprising the mobile terminal equipment, a plurality of AGV forklifts and bearing manufacturing equipment; the forklift signal interaction end of the mobile terminal equipment is connected with the operation signal interaction ends of the AGV forklifts in a wireless connection mode; the discharging signal input end of the mobile terminal device is connected with the discharging signal output end of the bearing manufacturing device;
the mobile terminal device includes:
a memory for storing a program;
a processor for calling and running a stored program in the memory to perform the tray positioning method of any one of claims 1 to 4.
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