High line unloading method and unloading system based on multi-sensor fusion

Abstract

The application belongs to the field of high-speed wire unloading, and particularly relates to a high-speed wire unloading method and system based on multi-sensor fusion, which comprises the following steps: S1. constructing a global coordinate system; S2. judging whether the wire coil is normally bundled, if yes, controlling the wire coil to enter a winding state, and if not, reporting information and executing release; S3. an industrial computer measuring the length of the wire coil in the winding state and the position of the wire coil in the global coordinate system through a laser radar; S4. the industrial computer calculating the parking position of the wire coil on a track trolley according to the length of the wire coil; S5. performing winding operation; and S6. performing unloading operation. The high-speed wire unloading method does not need manual operation intervention, reduces manual labor intensity, and avoids production accidents such as reverse winding, falling and collision, and has high winding flexibility and is suitable for multi-coil type mixed production lines.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-speed wire unloading, and in particular to a high-speed wire unloading method based on multi-sensor fusion and an unloading system. BACKGROUND

[0002] The last production process of a high-speed wire production line is to complete the alignment and loading of a wire coil hung on a P / F conveying chain C-shaped hook on an unloading track trolley, and then carry the wire coil to an unloading rack. When a specified number of wire coils are reached, the unloading rack is lifted by a crane to a finished product storage location, and the unloading task of the wire coil is completed in this way.

[0003] At present, the high-speed wire loading and unloading operation mode is realized by manual loading and unloading through manual observation, or by automatic loading and unloading through photoelectric switches and encoders. However, the existing two methods have the following problems: manual operation of manual loading and unloading has high labor intensity and low execution efficiency, and is prone to wire coil falling accidents caused by inaccurate loading position and wire coil rubbing accidents caused by inaccurate unloading brake position, which affects the quality of the wire coil, and the long handover shift time of the operator causes P / F line congestion and waiting. The automatic loading and unloading system based on photoelectric switches and encoders has a short service life of the sensor due to the direct installation of the sensor on the track trolley and the unloading rack, poor flexibility of the unloading parking position, and low overall system intelligence, which cannot be applied to multi-coil type mixed production loading and unloading operation, and manual intervention is required for problematic baling. SUMMARY

[0004] The embodiment of the present application provides a high-speed wire unloading method and an unloading system based on multi-sensor fusion, which aims to reduce the labor intensity, improve the loading flexibility, and be applicable to multi-coil type mixed production lines.

[0005] Therefore, according to one aspect of the present application, a high-speed wire unloading method based on multi-sensor fusion is provided, which is realized based on an unloading system. The unloading system includes a P / F line, a track trolley, an unloading rack, a laser radar, a camera, and an industrial computer connected in communication to the P / F line, the track trolley, the laser radar, and the camera. The track trolley is used for controlled unloading operation between the P / F line and the unloading rack. The laser radar and the camera are arranged away from the unloading operation area. The high-speed wire unloading method includes the following steps:

[0006] S1. External parameter calibration is performed between the laser radar and the camera through a calibration board, and at the same time, a global coordinate system is constructed.

[0007] S2. The camera collects images of the line roll on the C-shaped hook in the P / F line entering the unloading waiting state, and the industrial computer analyzes and judges whether the line roll is baled normally based on the images collected by the camera. If the baling is normal, the line roll enters the winding state; if the baling is not normal, information is reported and released;

[0008] S3. The industrial computer measures the length of the line roll in the winding state and the position of the line roll in the global coordinate system through the laser radar;

[0009] S4. The industrial computer calculates the parking position of the line roll on the track trolley according to the length of the line roll;

[0010] S5. The industrial computer tracks the position of the track trolley in real time through the laser radar and the camera, and controls the track trolley to run to the lower side of the line roll to perform the winding operation;

[0011] S6. The industrial computer observes and tracks the track trolley or the line roll located on the track trolley through the laser radar and the camera, and controls the track trolley to perform the unloading operation on the unloading rack.

[0012] Optionally, the number of cameras is two, one of which has a main viewing angle aligned with the P / F line, and the other has a main viewing angle aligned with the unloading rack, and the fields of view of the two cameras have an overlapping area to ensure continuous observation.

[0013] Optionally, the parking position in step S4 includes:

[0014] When the length of the line roll is greater than 1.5 meters, one end of the line roll is aligned with the end of the track trolley away from the C-shaped hook; when the length of the line roll is less than 1.5 meters, one end of the line roll is different from the end of the track trolley away from the C-shaped hook by n centimeters, and the value of n is obtained by comprehensively considering the weight and length of the line roll.

[0015] Optionally, step S5 specifically includes:

[0016] The industrial computer observes and tracks the track trolley through the laser radar and the camera, fuses the observations of the laser radar and the camera using Kalman filtering, combines the motion model of the track trolley, and calculates the position of the track trolley in the global coordinate system;

[0017] According to the parking position in step S4, the rail trolley enters a brake deceleration state when it is m centimeters away from the coil, the value of m is obtained by combining the empty brake test distance of the rail trolley and the actual operation result each time, after the rail trolley runs and stops at the coil receiving position below the coil, the rail trolley lifts the coil to a certain height, so that the coil is out of contact with the C-shaped hook.

[0018] Optionally, the following steps are further included between step S5 and step S6:

[0019] The industrial computer judges the number of existing coils on the uncoiling rack through a deep learning detection method according to the image data of the uncoiling rack obtained by the camera, and judges whether to perform the uncoiling operation in combination with the empty space length on the uncoiling rack obtained by the laser radar measurement; if the empty space length meets the length of the coil, the uncoiling interval requirement and other safety distance, the uncoiling is performed; otherwise, the uncoiling operation is performed after the existing coil on the uncoiling rack is hoisted and transported by the crane.

[0020] Optionally, the high line uncoiling method further includes setting an ROI area, and the industrial computer monitors the ROI area in real time through the camera, and if there is an abnormal intrusion of personnel or a crane operation without control information notification, a safety alarm or prompt is performed.

[0021] According to another aspect of the present application, a kind of uncoiling system is provided for the high line uncoiling method as described above, the uncoiling system includes P / F line, rail trolley, uncoiling rack, laser radar, camera and the industrial computer connected to the P / F line, the rail trolley, the laser radar and the camera, the rail trolley is used to be controlled between the P / F line and the uncoiling rack and carry out uncoiling operation, the laser radar and the camera are arranged away from uncoiling operation area.

[0022] The high line uncoiling method and uncoiling system based on multi-sensor fusion provided by the present application have the following advantages: compared with the prior art, the high line uncoiling method based on multi-sensor fusion of the present application arranges the laser radar and the camera away from the uncoiling operation area, avoiding the direct influence of high temperature and running vibration on the use performance and service life of the laser radar and the camera; the high line uncoiling method does not need manual operation intervention, reduces the labor intensity, and there is no mistake caused by manual participation, avoiding production accidents such as reverse winding, falling and collision. Compared with the automatic winding and uncoiling system using photoelectric switch tube, the winding flexibility is high, and it is suitable for multi-coil type mixed production line. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0024] Wherein:

[0025] Figure 1 is a flow chart of the high line unloading method shown in an embodiment of the present application;

[0026] Figure 2 is a structural schematic diagram of the unloading system shown in an embodiment of the present application;

[0027] Figure 3 is a working flow schematic diagram of the unloading system shown in an embodiment of the present application.

[0028] Main element symbol explanation:

[0029] 10, wire coil; 100, P / F wire; 110, C-shaped hook; 200, track trolley; 300, unloading rack; 400, laser radar; 500, camera; 600, industrial computer. DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the related drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many other different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive.

[0031] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0032] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0034] As described in the background, the current high line winding and unwinding operation mode has a manual winding and unwinding function realized by manual observation, and also has an automatic winding and unwinding system realized by photoelectric switch and encoder. Manual operation of manual winding and unwinding has high labor intensity, low execution efficiency, and is prone to accidents such as line roll falling caused by inaccurate winding position and line roll rubbing caused by inaccurate unwinding brake position, which affects the quality of line roll, and long shift handover time of operators will cause P / F line congestion and waiting. The automatic winding and unwinding system based on photoelectric switch and encoder has poor flexibility of unwinding parking position, and cannot be applied to multi-roll mixed production winding and unwinding operation. When encountering a problem roll, manual intervention is required, and the overall system has low intelligence.

[0035] In order to solve the above problems, according to one aspect of the present application, the embodiments of the present application provide a high line unwinding method based on multi-sensor fusion, which is realized based on an unwinding system, as shown in Figure 2 The unwinding system includes a P / F line 100, a track trolley 200, an unwinding rack 300, a laser radar 400, a camera 500, and an industrial computer 600 connected to the P / F line 100, the track trolley 200, the laser radar 400, and the camera 500. The track trolley 200 is used for controlled unwinding operation between the P / F line 100 and the unwinding rack 300. The laser radar 400 and the camera 500 are arranged away from the unwinding operation area, as shown in Figure 1 The high line unwinding method includes the following steps:

[0036] S1. External parameter calibration is performed between the laser radar 400 and the camera 500 through a calibration board, and at the same time, a global coordinate system is constructed, that is, the unwinding system is uniformly constructed in a global coordinate system, as shown in Figure 2 The global coordinate system O in

[0037] S2. The camera 500 collects images of the line roll 10 on the C-shaped hook 110 on the P / F line 100 in the unwinding waiting state. The industrial computer 600 analyzes and judges whether the line roll 10 is normally baled based on the images collected by the camera 500. If the baling is normal, the line roll 10 enters the winding state; if the baling is not normal, information is reported and released.

[0038] S3. The industrial computer 600 measures the length of the wire coil 10 in the winding state and the position of the wire coil 10 in the global coordinate system by the laser radar 400, and the relative position of the wire coil 10 in the global coordinate system O can be represented as d1;

[0039] S4. The industrial computer 600 calculates the parking position of the wire coil 10 on the track trolley 200 according to the length of the wire coil 10;

[0040] S5. The industrial computer 600 tracks the position of the track trolley 200 in real time (such as Figure 2 , the position of the track trolley 200 in the global coordinate system O can be represented as d2) by the laser radar 400 and the camera 500, and controls the track trolley 200 to run to the lower side of the wire coil 10 to perform the winding operation;

[0041] S6. The industrial computer 600 observes and tracks the track trolley 200 or the wire coil located on the track trolley 200 by the laser radar 400 and the camera 500 (it can be understood that since part of the wire coil is too long, only the moving wire coil can be observed, and only the moving wire coil can be tracked), and controls the track trolley 200 to perform the uncoiling operation on the uncoiling rack 300.

[0042] In the embodiment of the present application, the high wire uncoiling method arranges the laser radar 400 and the camera 500 away from the uncoiling operation area, avoiding the direct influence of high temperature and operation vibration on the use performance and service life of the laser radar 400 and the camera 500; The high wire uncoiling method does not need manual operation intervention, reduces the labor intensity, and avoids the mistakes caused by manual participation, avoids production accidents such as reverse winding, falling and collision. Compared with the automatic winding and uncoiling system using photoelectric switch tube, the winding flexibility is high, and it is suitable for mixed production line of multiple coils.

[0043] It can be understood that between step S1 and step S2, the following step is also provided: the industrial computer 600 reads the L2 signal on the P / F line 100 (including whether it is empty hook or the weight, batch and hook number of the C-shaped hook 110 mounted on the wire coil 10 measured by the upstream station Key information), decide whether the C-shaped hook 110 enters the uncoiling waiting state.

[0044] In an embodiment, as Figure 2 shown, the number of cameras 500 is two, one of which is aimed at the P / F line 100, and the other is aimed at the uncoiling rack 300, and the fields of view of the two cameras 500 have an overlapping area to ensure continuous observation.

[0045] In an embodiment, the parking position in step S4 includes:

[0046] When the length of the wire coil 10 is greater than 1.5 meters, one end of the wire coil 10 is aligned with the end of the track trolley 200 away from the C-shaped hook 110, that is, the alignment is in the form of edge alignment. Figure 2 When the length of the wire coil 10 is less than 1.5 meters, one end of the wire coil 10 is different from the end of the track trolley 200 away from the C-shaped hook 110 by n centimeters, that is, the alignment is in the form of n centimeters away from the edge position. The value of n is determined by the weight and length of the wire coil 10. For example, when the weight of the wire coil 10 is in the range of 1.5 tons plus or minus 20% and the length is in the range of 1.2 meters plus or minus 10%, n is 5.

[0047] Through the above arrangement, the flexibility of the winding is improved, different winding strategies are adopted for wire coils 10 of different lengths, and the occurrence of reverse winding is prevented. It is suitable for multi-coil type mixed production lines.

[0048] In one embodiment, step S5 specifically includes:

[0049] The industrial computer 600 observes and tracks the track trolley 200 through the laser radar 400 and the camera 500, fuses the observations of the laser radar 400 and the camera 500 using Kalman filtering, and combines the motion model of the track trolley 200 to calculate the position of the track trolley 200 in the global coordinate system.

[0050] According to the parking position in step S4, the track trolley 200 enters the brake deceleration state when it is m centimeters away from the wire coil 10. The value of m is determined by the no-load brake test distance of the track trolley 200 and the actual running result each time. After the track trolley 200 runs and stops at the winding position below the wire coil 10, the track trolley 200 rises to lift the wire coil 10 to a certain height, so that the wire coil 10 is separated from the C-shaped hook 110.

[0051] In one embodiment, between step S5 and step S6, the following steps are further included:

[0052] The industrial computer 600 determines the number of wire coils on the uncoiling rack 300 through deep learning detection based on the image data of the uncoiling rack 300 obtained by the camera 500, and determines whether to perform the uncoiling operation in combination with the empty space length of the uncoiling rack 300 measured by the laser radar 400. If the empty space length meets the length of the wire coil 10, the uncoiling interval requirement and other safety distance, the uncoiling is performed; otherwise, the uncoiling operation is performed after the existing wire coil on the uncoiling rack 300 is lifted by the track (not shown in the figure).

[0053] In one embodiment, the high-speed wire unwinding method further includes setting a Region of Interest (ROI). The industrial control computer 600 monitors the ROI in real time through the camera 500. If there is abnormal intrusion by personnel or crane operation without control information notification, a safety alarm or prompt will be issued. The computer can decide whether to suspend the operation based on the safety level.

[0054] According to another aspect of this application, embodiments of this application also provide an unwinding system for use in any of the high-speed wire unwinding methods described above, such as... Figure 2 As shown, the unloading system includes a P / F line 100, a track trolley 200, an unloading platform 300, a lidar 400, a camera 500, and an industrial control computer 600 that communicates with the P / F line 100, the track trolley 200, the lidar 400, and the camera 500. The track trolley 200 is used to perform unloading operations under control between the P / F line 100 and the unloading platform 300. The lidar 400 and the camera 500 are both arranged away from the unloading operation area.

[0055] The P / F line 100 mainly consists of a conveyor track, steel structure, conveyor chain, C-type hook 110, drive equipment and control equipment. The structure and working principle of the P / F line 100 are existing technologies in this field and will not be described in detail here.

[0056] The lidar 400 can use single-line or multi-line lasers, and the camera 500 can use color or grayscale cameras. The lidar 400 and camera 500 can be single or multiple. The overall workflow diagram of the unloading system is as follows: Figure 3 As shown.

[0057] In one specific embodiment, the unwinding system employs... Figure 2 Taking the structure shown as an example (using one lidar 400 and two cameras 500 as an example; specifically, one lidar 400 and two cameras 500 can be fixed together by rigid fixtures), the steps of the high-wire unwinding method are explained:

[0058] Step 1: The layout of the LiDAR 400 and two cameras 500 is as follows Figure 2 As shown, the main view of one camera 500 is aimed at the P / F line 100, and the main view of the other camera 500 is aimed at the unloading table 300. The two cameras 500 have a common observation overlap area to ensure continuous observation.

[0059] Step 2: The external parameters of the LiDAR 400 and the camera 500 are calibrated using a calibration board. At the same time, a virtual coordinate system O is constructed at the unloading table 300, with the OX direction being the same as the major axis of the unloading table 300 and the OY direction being perpendicular to the ground and upward.

[0060] Step 3: The camera 500 aligned with the P / F line 100 in the main view angle collects image signals in real time, combined with the in-place signal in the L2 information on the P / F line 100, to determine whether there is a wire coil on the C-shaped hook 110 and to judge the packing state. Through the deep learning target detection network, it is determined whether the hook is empty. If there is a wire coil, it is further determined whether the baling wire is normal or a loose coil caused by baling failure. If it is a normal coil, the length of the wire coil is measured by the laser radar 400 and the position in the global coordinate system is calculated, such as Figure 2 d1 in the global coordinate system;

[0061] Step 4: According to the measured length in step 3, the optimal parking position of the wire coil on the track trolley 200 is calculated according to the set safe wire running mode and the parking distance requirement between the coils on the uncoiling rack 300;

[0062] Step 5: The track trolley 200 is found by the camera 500 aligned with the uncoiling rack 300 in the main view angle and the last tracking position of the laser radar 400, and the track trolley 200 running track is tracked. When the track trolley 200 runs below the wire coil 10, it can also be tracked according to the trolley motion model to improve the overall robustness of the system. The position of the track trolley 200 in the global coordinate system is measured in real time, such as Figure 2 d2 in the global coordinate system;

[0063] Step 6: The track trolley 200 runs below the wire coil 10 on the C-shaped hook 110 to perform the coil picking operation. According to the position of the wire coil 10 in the global coordinate system obtained in step 3 and the position of the track trolley 200 in the global coordinate system, the relative distance between the two can be obtained. The track trolley 200 is controlled in running direction and speed by the soft PLC system, and the track trolley 200 is accurately parked below the wire coil 10 on the C-shaped hook 110 only by the processes of acceleration, constant speed, deceleration and stop. The track trolley 200 lifts the wire coil 10 to a certain height so that the wire coil 10 is no longer in contact with the C-shaped hook 110, establishing a tracking target and completing the coil picking operation;

[0064] Step 7: The laser radar 400 combines the camera 500 aligned with the uncoiling rack 300 in the main view angle, the last operation record and the coil stacking requirement to calculate the target parking position in the global coordinate system. If the first bundle of wire (i.e. no wire coil on the uncoiling rack 300), the target parking position is the set first coil position. If there is a wire coil on the uncoiling rack 300, the wire coils are stacked according to the close stacking or spacing stacking requirement when the wire coils are of the same type and meet the hoisting requirement of several bundles in one. If the wire coils on the uncoiling rack 300 are of different types, they are stacked according to the spacing stacking requirement, such as Figure 2 d3 in the global coordinate system, d4 represents the spacing distance of the parking;

[0065] Step 8: The track trolley 200 carries the coil according to the target position, the laser radar 400 and the camera 500 track the running track trolley 200 and the coil in real time, according to the track with detect algorithm idea, and make motion compensation under different time difference of the three sensors (i.e. one laser radar 400 and two cameras 500), calculate the maximum a posteriori probability of the track trolley 200 position, and calculate the interpolation with the target parking position, control the running of the track trolley 200 in real time through the soft PLC, when driving to the target position, according to the real-time distance feedback, enter the deceleration-brake, and accurately stop at the target parking position;

[0066] Step 9: In the set ROI area, the camera 500 is used to monitor in real time, if there is an abnormal intrusion of personnel or no L2 information notification of the track operation, the safety alarm or prompt will be carried out, according to the set safety level, it is decided whether to suspend the coil receiving or unloading operation, and after the alarm is removed, the operation is restored again;

[0067] Step 10: Repeat the process of steps 3 to 8 until the unloading rack 300 reaches the set unloading quantity or state requirement, report to the comprehensive warehouse management system through the L2 system, and wait for the track to transport the coil;

[0068] In summary, the application provides a high line unloading method and unloading system based on multi-sensor fusion, the sensor is far away from the unloading operation area, completely without manual operation intervention, and the system can be connected to the whole unmanned high line production workshop. It can greatly reduce the labor intensity, avoid production accidents such as coil reversal, falling and collision, and is suitable for multi-coil type mixed production line, and has the functions of freely set parking position, parking coil number, coil length measurement, personnel intrusion, track operation and alarm, and according to the safety level, it can decide whether to need to suspend the operation.

[0069] The technical features of the above embodiments can be combined in any way. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the description.

[0070] The above embodiments only express several implementation ways of the application, the description is more specific and detailed, but it should not be understood as the limitation of the application scope. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the application, some modifications and improvements can be made, which belong to the protection scope of the application. Therefore, the protection scope of the application should be subject to the appended claims.

Claims

1. A high line unloading method based on multi-sensor fusion, characterized in that, The high-speed line unloading method is based on an unloading system, which comprises a P / F line, a track trolley, an unloading rack, a laser radar, a camera, and an industrial computer connected to the P / F line, the track trolley, the laser radar, and the camera. The track trolley is used for controlled unloading operation between the P / F line and the unloading rack. The laser radar and the camera are arranged away from the unloading operation area. The high-speed line unloading method comprises the following steps: S1. External parameter calibration is performed between the laser radar and the camera through a calibration board, and a global coordinate system is constructed at the same time; S2. The camera collects images of the line coil on the C-shaped hook in the unloading waiting state on the P / F line. The industrial computer analyzes and judges whether the line coil is normally baled based on the images collected by the camera. If the line coil is normally baled, the line coil enters the winding state. If the line coil is not normally baled, information is reported and released; S3. The industrial computer measures the length of the line coil in the winding state through the laser radar, and the position of the line coil in the global coordinate system; S4. The industrial computer calculates the parking position of the line coil on the track trolley according to the length of the line coil: when the length of the line coil is greater than 1.5 meters, one end of the line coil is aligned with one end of the track trolley away from the C-shaped hook; when the length of the line coil is less than 1.5 meters, one end of the line coil is different from one end of the track trolley away from the C-shaped hook by n centimeters, and the value of n is obtained by comprehensively considering the weight and length of the line coil; S5. The industrial computer tracks the position of the track trolley in real time through the laser radar and the camera, and controls the track trolley to run to the lower side of the line coil to perform the winding operation; S6. The industrial computer observes and tracks the track trolley or the line coil on the track trolley through the laser radar and the camera, and controls the track trolley to perform the unloading operation on the unloading rack.

2. The high-speed wire coil unloading method according to claim 1, characterized in that, The number of cameras is two, one of which is aimed at the P / F line, and the other is aimed at the unloading rack, and the fields of view of the two cameras overlap to ensure continuous observation.

3. The high-speed wire uncoiling method according to claim 1, wherein Step S5 specifically comprises: The industrial computer observes and tracks the track trolley through the laser radar and the camera, fuses the observations of the laser radar and the camera using Kalman filtering, combines the motion model of the track trolley, and calculates the position of the track trolley in the global coordinate system; According to the parking position in step S4, the track trolley enters the brake deceleration state when it is m centimeters away from the line coil, and the value of m is obtained by fusing the no-load brake test distance of the track trolley and the actual running result each time. After the track trolley runs and stops under the line coil, the track trolley lifts the line coil to a certain height, so that the line coil is separated from the C-shaped hook.

4. The high-speed wire uncoiling method of claim 1, wherein Between step S5 and step S6, the following steps are also included: The industrial computer judges the number of existing wire coils on the unwinding rack according to the image data of the unwinding rack obtained by the camera through a deep learning detection method, and judges whether to perform the unwinding operation in combination with the length of the empty space on the unwinding rack obtained by the laser radar measurement; if the length of the empty space meets the length of the wire coil, the unwinding interval requirement and other safety distance, the unwinding is performed; otherwise, the unwinding operation is performed after the existing wire coil on the unwinding rack is lifted by the travelling crane.

5. The high-speed wire uncoiling method of claim 1, wherein, The high wire unwinding method further comprises setting an ROI area, and the industrial computer monitors the ROI area in real time through the camera, and if there is abnormal intrusion of personnel or crane operation without control information notification, a safety alarm or prompt is performed.

6. An unloading system characterized in that, The high wire unwinding method for any one of claims 1-5, the unwinding system comprises a P / F line, a track trolley, an unwinding rack, a laser radar, a camera and an industrial computer connected in communication with the P / F line, the track trolley, the laser radar and the camera, the track trolley is used for controlled unwinding operation between the P / F line and the unwinding rack, and the laser radar and the camera are arranged away from the unwinding operation area.

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