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Intelligent loading and unloading vehicle system based on visual servo

A technology of visual servoing and loading and unloading trucks, which is applied in the direction of loading/unloading, motor vehicles, and object stacking, etc. It can solve the problems of unsuitable moving spaces for palletizers, and achieve the effect of compact structure and precise positioning

Pending Publication Date: 2020-10-30
李宏亮
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a visual servo-based intelligent loading and unloading vehicle system to solve the problem that the dismantling palletizer is not suitable for small spaces and spaces that need to be moved, and to realize fully automatic loading and unloading of goods in limited spaces such as vans. Realize human substitution

Method used

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  • Intelligent loading and unloading vehicle system based on visual servo
  • Intelligent loading and unloading vehicle system based on visual servo
  • Intelligent loading and unloading vehicle system based on visual servo

Examples

Experimental program
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Effect test

Embodiment 1

[0141] Specifically, the process of unstacking the goods 11 from the van compartment 10 and transferring the goods to the platform for stacking is as follows:

[0142] After the loading and unloading robot enters the compartment, the loading and unloading robot is moved to the designated position by the AGV trolley 1, and the multi-station camera viewing angle adjustment device captures the image information in the van in the top view mode, top down shooting mode or / and side shooting mode , based on the image information, when the posture adjustment device receives an instruction, it first rotates the chassis to drive the posture adjustment device to rotate, and pushes the first transmission device on the connecting plate and the posture adjustment device on the first transmission device to pitch through the push rod; After pitching and rotating, the first deceleration motor cooperates with the rack, so that the guide rail drives the connecting plate and the first deceleration ...

Embodiment 2

[0151] The goods are unpacked from the platform and transported to the van compartment 10 for stacking of the goods 11. The specific process is as follows:

[0152] The unpacking of palletizing mechanism 5 is similar to the stacking process,

[0153] After the three-coordinate machine 5-2 is adjusted in the X' axial direction, the goods 11 to be unstacked are placed on the material code tray 5-1-8, and are fed by the drum assembly 5-1-6. At this time, the second camera 5-4 on the top of the frame of the three-coordinate machine 5-2 obtains the specific image data of the goods to be unstacked, outputs the position and attitude information of the goods to the control background, and controls the translation in the direction of the Y' axis The lifting motor 5-2-5 of motor 5-2-21 and Z axis direction is adjusted. The translation motor 5-2-21 controls the movement in the direction of the Y' axis, and adjusts the grabbing mechanism to be directly above the goods to be unstacked. Th...

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Abstract

The invention discloses an intelligent loading and unloading vehicle system based on visual servo, and belongs to the technical field of intelligent loading and unloading vehicle robots. The intelligent loading and unloading vehicle system comprises an unstacking and stacking mechanism, a conveying mechanism and an AGV loading and unloading mechanism, wherein the two ends of the conveying mechanism are connected to the unstacking and stacking mechanism and the AGV loading and unloading mechanism correspondingly; the AGV loading and unloading mechanism comprises an AGV trolley capable of achieving front-back, left-right and rotation displacement, a pose adjusting device arranged on the AGV trolley, a flexible grabbing device arranged on the pose adjusting device, and a first image obtainingmechanism arranged on the flexible grabbing device; and the unstacking and stacking mechanism comprises a movable carrying platform, a three-coordinate machine arranged on the carrying platform, anda second image obtaining mechanism arranged on the three-coordinate machine. The intelligent loading and unloading vehicle system solves the problem that an unstacking and stacking machine is not suitable for narrow space and space needing to be moved, full-automatic loading and unloading of goods in limited space such as a van are achieved, and manpower replacement is achieved.

Description

technical field [0001] The invention relates to the technical field of intelligent loading and unloading truck robots, in particular to an intelligent loading and unloading truck system based on visual servoing. Background technique [0002] In the prior art, the process of loading and unloading trucks is done by manpower, the loading and unloading labor intensity is high, and the loading and unloading efficiency is low. In order to improve the existing situation, some enterprises have added telescopic conveyor belts that can go deep into the interior of the car. The telescopic conveyor belt completes the transportation process of the goods in the compartment, but the input end cannot complete the dismantling of materials and the transfer of materials to the conveyor belt; the output end cannot complete the transfer and stacking of materials from the conveyor to the compartment. Both ends of the telescopic conveyor belt are still completed by manpower. This solution reduces...

Claims

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Application Information

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IPC IPC(8): B65G67/02B65G61/00B65G47/22B65G47/91B65G43/08B62D63/02B62D63/04
CPCB62D63/02B62D63/04B65G43/08B65G47/22B65G47/91B65G61/00B65G67/02B65G2203/041
Inventor 李宏亮杨远才
Owner 李宏亮
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