An intelligent automatic stacking system for cable reels

Abstract

The present invention relates to the field of automatic stacking technology, and more specifically, to an intelligent automatic stacking system for cable reels. The system comprises a data analysis unit, a quantity and horizontal and vertical position unit, an automatic stacking unit, a data judgment unit, and a stacking position optimization unit. The stacking position optimization unit optimizes the stacking position of the cable reels according to the data of the data analysis unit. The stacking position optimization unit of the present invention receives command data indicating that there is a deviation in the actual center stacking position from the data judgment unit, and optimizes the stacking position of the cable reels according to the image data of the cable reels, the stacking area related data, the analyzed cable reels characteristic data, and the analyzed stacking space limitation data. Combined with the space limitation data of the stacking area, the stacking height and width of the cable reels are reasonably planned, which can ensure that the cable reels are evenly stacked and balanced, prevent the risk of tilting and collapse caused by excessively high or uneven stacking of the cable reels, and improve the stability of the cable reels stacking.

Description

Technical Field

[0001] The invention relates to the technical field of automatic stacking, and in particular to an intelligent automatic stacking system for cable reels. Background Art

[0002] With the continuous development of science and technology and the progress of society, automation and intelligence are constantly developing. By introducing automated cable reel stacking, the efficiency and accuracy of cable reel stacking can be improved to adapt to the rapid changes in market demand. Intelligent automatic stacking of cable reels is an intelligent solution in the field of modern logistics and warehousing, aiming to improve the stacking efficiency, accuracy and management level of cable reels in warehouses. When the cable reels are automatically stacked, they must first be stacked from bottom to top or from left to right according to the stacking position. When the stacked cable reels are found to be tilted, it means that there is a calculation deviation in the stacking position of the center of the cable reel, which makes the stacked cable reels have the risk of tilting and collapse, reducing the stability of the cable reel stacking. In order to avoid the reduction of the stability of the cable reel stacking due to the deviation of the center stacking position of the cable reel, we provide an intelligent automatic stacking system for cable reels. Summary of the invention

[0003] The object of the present invention is to provide an intelligent automatic stacking system for cable reels to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides an intelligent automatic stacking system for cable reels, comprising a data analysis unit, a quantity and horizontal and vertical position unit, an automatic stacking unit, a data judgment unit, and a stacking position optimization unit;

[0005] The data analysis unit uses a camera to capture image data of the cable reel and data related to the stacking area and analyzes the characteristics of the cable reel, and then analyzes the stacking space limitation based on the data related to the stacking area and the analyzed cable reel characteristic data;

[0006] The data analysis unit uses a camera to capture image data of the cable reel and data related to the stacking area, and analyzes the weight, size, shape and material characteristics of the cable reel based on the image data of the cable reel, and then analyzes the stacking space limitation based on the data related to the stacking area and the analyzed cable reel characteristic data;

[0007] The quantity and transverse and longitudinal position unit is used to receive the data in the data analysis unit and calculate the number of cable reels stacked in a single layer, and then calculate the transverse and longitudinal axis center positions of the cable reels in the single layer according to the calculated single-layer stacking number;

[0008] The quantity and horizontal and vertical position unit includes a single-layer stacking quantity module and a horizontal and vertical position center module;

[0009] The single-layer stacking quantity module is used to receive the cable reel characteristic data and the analyzed stacking space limitation data analyzed in the data analysis unit, and calculate the number of cable reels stacked in a single layer according to the analyzed cable reel characteristic data and the analyzed stacking space limitation data, and calculate the number of cable reels stacked from left to right and from front to back in a single layer in a grid manner from left to right and from front to back, and then calculate the total number of cable reels stacked in a single layer according to the calculated single-layer stacking number from left to right and the calculated single-layer stacking number from front to back;

[0010] The calculated single-layer stacking quantity includes the calculated single-layer stacking quantity from left to right and the calculated single-layer stacking quantity from front to back;

[0011] The horizontal and vertical position center module is used to receive the cable reel characteristic data analyzed in the data analysis unit, the analyzed stacking space limitation data and the single-layer stacking quantity calculated in the single-layer stacking quantity module, and calculate the horizontal and vertical axis center position of the cable reel in the single layer according to the analyzed cable reel characteristic data, the analyzed stacking space limitation data and the calculated single-layer stacking quantity;

[0012] The steps for calculating the horizontal and vertical axis center position of the cable tray in a single layer in the horizontal and vertical position center module are as follows:

[0013] L1. First collect and analyze the cable tray characteristics data , analyze the storage space limit data and the calculated single-layer stacking quantity , and based on the analyzed cable reel characteristics data Get the diameter of the cable drum and the width of the cable tray , and then limit the data according to the analyzed stack space Get safe distance between cable trays , Length of stacking space ;

[0014] L2, calculated single-layer stacking quantity Includes the calculated number of single-layer stacking from left to right And the number of single-layer stacking from front to back calculated , and use the diameter of the cable reel Safe distance from cable reel Calculate the horizontal axis center position of the cable tray in a single layer and obtain the calculated horizontal axis center position of the cable tray in a single layer , the specific algorithm formula is:

[0015] ;

[0016] in, Refers to the horizontal numbering of the cable reel, starting from 0. Refers to the number of the first cable reel. Refers to the number of the second cable reel, and so on;

[0017] L3. Utilize the width of the cable reel Safe distance from cable reel Calculate the longitudinal center position of the cable drum in a single layer and obtain the calculated longitudinal center position of the cable drum in a single layer , the specific algorithm formula is:

[0018] ;

[0019] Where j refers to the longitudinal number of the cable reel, starting from 0. Refers to the number of the first cable reel. Refers to the number of the second cable reel, and so on;

[0020] L4, calculated center position of the horizontal axis of the cable drum in a single layer and the calculated longitudinal center position of the cable drum in a single layer Get the first The center position of the cable tray , yes The index represents the position number along the horizontal direction, and the value range is [0, N x - 1] , yes The index represents the position number along the vertical direction, and the value range is [0, N y - 1] , and Indicates the numbers of different dimensions, one is the horizontal number and the other is the vertical number. and are not equivalent in these two expressions;

[0021] The automatic stacking unit is used to receive the data and quantity in the data analysis unit and the cable reel transverse and longitudinal axis center position data calculated in the transverse and longitudinal position unit to calculate the cable reel stacking height limit and the cable reel height position, and then combine the calculated cable reel height position and the calculated cable reel transverse and longitudinal axis center position into the actual center stacking position of the cable reel and automatically stack it;

[0022] The automatic stacking unit includes a height limiting module and a stacking position module;

[0023] The height restriction module is used to receive the cable tray characteristic data and the analyzed stacking space restriction data analyzed in the data analysis unit, and calculate the cable tray stacking height restriction according to the analyzed cable tray characteristic data and the analyzed stacking space restriction data, and then analyze the number of stacking layers of the cable tray according to the calculated cable tray stacking height restriction data and the analyzed stacking space restriction data;

[0024] Steps to calculate cable tray stacking height limit:

[0025] First collect and analyze the cable reel characteristics data and analyze the storage space limit data And get the diameter of the cable drum And the limit of stacking height , and then use the diameter of the cable drum And the limit of stacking height Calculate the cable tray stacking height limit and obtain the calculated cable tray stacking height limit data , the specific algorithm formula is:

[0026] ;

[0027] Among them, when When there is a decimal in the value of Round down to an integer not greater than The maximum integer of the actual value;

[0028] The realization principle of the number of stacking layers of cable reels:

[0029] First collect and analyze the stacking space limit data and obtain the maximum number of stacking layers , and then use the calculated cable tray stacking height limit data and the maximum number of stacking layers Get the number of stacking layers of cable reels , the specific algorithm formula is:

[0030] ;

[0031] in, Refers to the maximum number of stacking layers Calculated cable tray stacking height limit data Make a comparison and take the smaller value of the comparison result;

[0032] The stacking position module is used to receive the cable reel characteristic data analyzed in the data analysis unit and the cable reel transverse and longitudinal axis center position data calculated in the transverse and longitudinal position center module, and calculate the height position of the cable reel according to the analyzed cable reel characteristic data, and then combine the calculated cable reel height position and the calculated transverse and longitudinal axis center position of the cable reel into the actual center stacking position of the cable reel, and use a mechanical arm or a robot to automatically stack the cable reel according to the actual center stacking position of the cable reel;

[0033] Principle of calculating the height position of the cable reel:

[0034] First, collect and analyze the cable drum characteristics data and obtain the cable drum diameter , and then use it to obtain the diameter of the cable drum Calculate the height position of the cable tray and obtain the calculated height position of the cable tray , the specific algorithm formula is:

[0035] ;

[0036] Where k represents the number of layers of the cable tray, and the value range of k is [0, -1];

[0037] The data judgment unit is used to receive the actual center stacking position of the cable reel in the automatic stacking unit and use a camera to shoot a stacking image of the cable reel from top to bottom, and then judge whether there is a deviation problem in the actual center stacking position of the cable reel according to the midpoint position of the cable reel analysis in the stacking image;

[0038] The stacking position optimization unit is used to receive command data from the data judgment unit indicating that there is a deviation in the actual center stacking position, and to obtain data from the data analysis unit to optimize the stacking position of the cable reel.

[0039] As a further improvement of the present technical solution, the data judgment unit is used to receive the actual center stacking position of the cable reel in the stacking position module, and use a camera to shoot a stacking image of the cable reel from top to bottom according to the actual center stacking position of the cable reel, and then analyze the midpoint position of the cable reel in the stacking image, according to the analyzed midpoint position corresponding to the bottommost cable reel, and draw a vertical line from bottom to top for the analyzed midpoint position data, connect the analyzed midpoint positions corresponding to all the cable reels from bottom to top in the stacking image into a straight line, and then use the vertical line and the straight line to judge the overlap.

[0040] As a further improvement of the technical solution, the specific judgment situation in the data judgment unit includes:

[0041] Case ①: When the vertical line coincides with the straight line, it means that the stacked cable reels are not tilted, and there is no deviation in the actual center stacking position of the cable reels;

[0042] Case ②: When the vertical line does not coincide with the straight line, it means that the stacked cable reels are tilted, and there is a deviation in the actual center stacking position of the cable reels. The command data indicating the deviation in the actual center stacking position is transmitted to the stacking position optimization unit.

[0043] As a further improvement of the present technical solution, the stacking position optimization unit is used to receive command data from the data judgment unit indicating that there is a deviation in the actual center stacking position. When the command data indicating that there is a deviation in the actual center stacking position is received, the stacking position optimization unit takes the image data of the cable reel, the stacking area related data, the analyzed cable reel characteristic data and the analyzed stacking space limitation data from the data analysis unit, and uses computer vision technology to optimize the stacking position of the cable reel according to the image data of the cable reel, the stacking area related data, the analyzed cable reel characteristic data and the analyzed stacking space limitation data, and transmits the optimized cable reel stacking position to the stacking position module. The stacking position module receives the optimized cable reel stacking position in the stacking position optimization unit and performs automatic stacking.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. In the intelligent automatic stacking system for cable reels, when the stacking position optimization unit receives command data indicating that there is a deviation in the actual center stacking position from the data judgment unit, the cable reel stacking position is optimized based on the image data of the cable reel, the stacking area related data, the analyzed cable reel characteristic data and the analyzed stacking space limitation data. Combined with the space limitation data of the stacking area, the cable reel stacking height and width are reasonably planned to ensure that the cable reels are evenly stacked and balanced, prevent the risk of tilting and collapse caused by excessive or uneven stacking of the cable reels, and improve the stability of the cable reel stacking.

[0046] 2. In the intelligent automatic stacking system for cable reels, the stacking position module receives the cable reel characteristic data analyzed in the data analysis unit and the cable reel horizontal and vertical axis center position data calculated in the horizontal and vertical position center module, and calculates the height position of the cable reel according to the analyzed cable reel characteristic data, and then combines the calculated cable reel height position and the calculated horizontal and vertical axis center positions of the cable reel into the actual center stacking position of the cable reel. Determining the actual center stacking position of the cable reel can optimize the space utilization to the greatest extent, stacking the cable reel in the best position, effectively utilizing the stacking area, stacking the cable reel in a limited space, and improving the space utilization efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is an overall block diagram of the present invention;

[0048] Figure 2 It is a block diagram of the quantity and horizontal and vertical position units of the present invention;

[0049] Figure 3 It is a block diagram of the automatic stacking unit of the present invention.

[0050] The meaning of each number in the figure is:

[0051] 1. Data analysis unit;

[0052] 2. Quantity and horizontal and vertical position unit; 21. Single-layer stacking quantity module; 22. Horizontal and vertical position center module;

[0053] 3. Automatic stacking unit; 31. Height limit module; 32. Stacking position module;

[0054] 4. Data judgment unit; 5. Stacking position optimization unit. DETAILED DESCRIPTION

[0055] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Example 1

[0057] The present invention provides an intelligent cable reel automatic stacking system, please refer to Figure 1-Figure 3 , including a data analysis unit 1, a quantity and horizontal and vertical position unit 2, an automatic stacking unit 3, a data judgment unit 4, and a stacking position optimization unit 5;

[0058] The data analysis unit 1 uses a camera to capture the image data of the cable reel and the data related to the stacking area and analyzes the characteristics of the cable reel, and then analyzes the stacking space limitation based on the data related to the stacking area and the analyzed cable reel characteristic data; the quantity and horizontal and vertical position unit 2 is used to receive the data in the data analysis unit 1 and calculate the number of cable reels stacked in a single layer, and then calculate the horizontal and vertical axis center positions of the cable reels in the single layer based on the calculated single-layer stacking number; the automatic stacking unit 3 is used to receive the data in the data analysis unit 1 and the horizontal and vertical axis center position data of the cable reel calculated in the quantity and horizontal and vertical position unit 2 to calculate the stacking height limitation of the cable reel and the cable reel. The height position of the cable reel is calculated, and then the actual center stacking position of the cable reel is combined according to the calculated height position of the cable reel and the calculated center position of the horizontal and vertical axes of the cable reel, and then automatically stacked; the data judgment unit 4 is used to receive the actual center stacking position of the cable reel in the automatic stacking unit 3 and use the camera to shoot the stacking image of the cable reel from top to bottom, and then judge whether there is a deviation in the actual center stacking position of the cable reel according to the midpoint position of the cable reel analyzed in the stacking image; the stacking position optimization unit 5 is used to receive the command data of the actual center stacking position deviation of the data judgment unit 4, and take data from the data analysis unit 1 to optimize the stacking position of the cable reel.

[0059] The following is a refinement of the above units, see Figure 1-Figure 3 ;

[0060] The data analysis unit 1 uses a camera to capture the image data of the cable reel and the data related to the stacking area, and analyzes the weight, size, shape and material characteristics of the cable reel based on the image data of the cable reel, and then analyzes the stacking space limitation based on the data related to the stacking area and the analyzed cable reel characteristic data, so as to better understand the actual situation of the cable reel stacking place and the size and weight characteristics of the cable reel. Based on these data, the stacking space limitation analysis can be carried out to plan the stacking space in a targeted manner, ensure full use of the space, avoid waste and congestion, and improve stacking efficiency;

[0061] The stacking space limitation data analyzed include space size (the stacking space size limits the number and size of cable reels that can be stacked), height limit (the stacking space may have a limit on the maximum number of stacking layers or height), aisle width (to facilitate the entry and exit of personnel and equipment, the stacking space needs to retain sufficient aisle width), and load-bearing capacity (the load-bearing capacity of the floor or shelf in the stacking area limits the total weight of the cable reels that can be stacked);

[0062] The quantity and horizontal and vertical position unit 2 includes a single-layer stacking quantity module 21 and a horizontal and vertical position center module 22;

[0063] The single-layer stacking quantity module 21 is used to receive the cable reel characteristic data and the stacking space limitation data analyzed in the data analysis unit 1, and calculate the number of cable reels stacked in a single layer according to the analyzed cable reel characteristic data and the analyzed stacking space limitation data, and calculate the number of cable reels stacked from left to right and from front to back in a single layer according to the grid method from left to right and from front to back, and then calculate the total number of stacking in a single layer according to the calculated single-layer stacking number from left to right and the calculated single-layer stacking number from front to back, which can eliminate the errors or deviations that may exist in a single calculation method, improve the accuracy of the calculation results, and ensure the accuracy of the total stacking quantity;

[0064] The calculated single-layer stacking quantity includes the calculated single-layer stacking quantity from left to right and the calculated single-layer stacking quantity from front to back;

[0065] Implementation steps for calculating the number of single-layer stacking:

[0066] S1. First collect and analyze the cable reel feature data and analyze the storage space limit data , and based on the analyzed cable reel characteristics data Get the diameter of the cable drum and the width of the cable tray , and then limit the data according to the analyzed stack space Get safe distance between cable trays , Length of stacking space , the width of the stacking space ;

[0067] S2. Utilize the length of the stacking space , Cable drum diameter Safe distance from cable tray Calculate the number of single-layer stacking from left to right and obtain the calculated number of single-layer stacking from left to right , the specific algorithm formula is:

[0068] (D+S);

[0069] Among them, when When the value of has decimals, Round down to an integer not greater than The maximum integer of the actual value. This formula is used to calculate the number of single-layer stacking from left to right, which is convenient for the subsequent calculation of the total number of stacking in a single layer;

[0070] S3. Utilize the width of the stacking space , Width of cable reel Safe distance from cable tray Calculate the number of single-layer stacking from front to back and obtain the calculated number of single-layer stacking from front to back , the specific algorithm formula is:

[0071] (W+S);

[0072] Among them, when When the value of has decimals, Round down to an integer not greater than The maximum integer of the actual value is used to calculate the number of single-layer stacking from front to back, which is convenient for the subsequent calculation of the total number of stacking in a single layer;

[0073] The implementation principle of calculating the total number of stacking in a single layer: using the number of single-layer stacking calculated from left to right And the number of single-layer stacking from front to back calculated Calculate the total number of stacking in a single layer and obtain the calculated total number of stacking in a single layer , the specific algorithm formula is:

[0074] ;

[0075] Among them, this formula calculates the total number of stacking in a single layer, and can clearly obtain the maximum number of stacking in a single layer;

[0076] Example:

[0077] Cable drum diameter (m); Width of cable reel (rice);

[0078] Safe distance between cable reels (m); length of stacking space (rice);

[0079] Width of stacking space (rice);

[0080] Single layer stacking quantity:

[0081] ;

[0082] ;

[0083] Total quantity stacked in a single layer:

[0084] ;

[0085] The horizontal and vertical position center module 22 is used to receive the cable reel characteristic data analyzed in the data analysis unit 1, the analyzed stacking space limitation data and the single-layer stacking quantity calculated in the single-layer stacking quantity module 21, and calculate the horizontal and vertical axis center position of the cable reel in the single layer according to the analyzed cable reel characteristic data, the analyzed stacking space limitation data and the calculated single-layer stacking quantity. Calculating the horizontal and vertical axis center position of the cable reel can help ensure the stability of stacking. Placing the center position of the cable reel reasonably inside the stacking space can reduce friction and mutual collision between the cable reels, improve the stability of stacking, prevent the reel from tilting, collapsing or sliding, and ensure stacking safety.

[0086] The calculated data of the horizontal and vertical axis center position of the cable tray includes the calculated horizontal axis center position of the cable tray in a single layer. and the calculated longitudinal center position of the cable drum in a single layer ;

[0087] Steps to calculate the center position of the horizontal and vertical axes of the cable tray in a single layer:

[0088] L1. First collect and analyze the cable tray characteristics data , analyze the storage space limit data and the calculated single-layer stacking quantity , and based on the analyzed cable reel characteristics data Get the diameter of the cable drum and the width of the cable tray , and then limit the data according to the analyzed stack space Get safe distance between cable trays , Length of stacking space ;

[0089] L2, calculated single-layer stacking quantity Includes the calculated number of single-layer stacking from left to right And the number of single-layer stacking from front to back calculated , and use the diameter of the cable reel Safe distance from cable reel Calculate the horizontal axis center position of the cable tray in a single layer and obtain the calculated horizontal axis center position of the cable tray in a single layer , the specific algorithm formula is:

[0090] ;

[0091] in, Refers to the horizontal numbering of the cable reel, starting from 0. Refers to the number of the first cable reel. Refers to the number of the second cable reel, and so on. This formula is used to calculate the horizontal axis center position of the cable reel in a single layer, which is convenient for subsequent calculation of the actual center stacking position of the cable reel;

[0092] L3. Utilize the width of the cable reel Safe distance from cable reel Calculate the longitudinal center position of the cable drum in a single layer and obtain the calculated longitudinal center position of the cable drum in a single layer , the specific algorithm formula is:

[0093] ;

[0094] Where j refers to the longitudinal number of the cable reel, starting from 0. Refers to the number of the first cable reel. Refers to the serial number of the second cable reel. Similarly, this formula is used to calculate the longitudinal center position of the cable reel in a single layer, which is convenient for subsequent calculation of the actual center stacking position of the cable reel.

[0095] L4, calculated center position of the horizontal axis of the cable drum in a single layer and the calculated longitudinal center position of the cable drum in a single layer Get the first The center position of the cable tray , yes The index represents the position number along the horizontal direction, and the value range is [0, N x - 1] , yes The index represents the position number along the vertical direction, and the value range is [0, N y - 1] , and Indicates the numbers of different dimensions, one is the horizontal number and the other is the vertical number. and are not equivalent in these two expressions;

[0096] Example:

[0097] Cable drum diameter (m); safe distance between cable reels (rice);

[0098] Width of cable reel (rice);

[0099] For Cable Trays : (rice);

[0100] For Cable Trays : (rice);

[0101] For Cable Trays : (rice);

[0102] For Cable Trays : (rice);

[0103] The first The center position of a cable reel is ;

[0104] The automatic stacking unit 3 includes a height limiting module 31 and a stacking position module 32;

[0105] The height restriction module 31 is used to receive the cable tray characteristic data and the analyzed stacking space restriction data analyzed in the data analysis unit 1, and calculate the cable tray stacking height restriction according to the analyzed cable tray characteristic data and the analyzed stacking space restriction data, and then analyze the number of cable tray stacking layers according to the calculated cable tray stacking height restriction data and the analyzed stacking space restriction data;

[0106] Steps to calculate cable tray stacking height limit:

[0107] First collect and analyze the cable reel characteristics data and analyze the storage space limit data And get the diameter of the cable drum And the limit of stacking height , and then use the diameter of the cable drum And the limit of stacking height Calculate the cable tray stacking height limit and obtain the calculated cable tray stacking height limit data , the specific algorithm formula is:

[0108] ;

[0109] Among them, when When there is a decimal in the value of Round down to an integer not greater than The maximum integer of the actual value. This formula is used to calculate the height limit of the cable tray stacking, which is convenient for subsequent analysis of the number of stacking layers of the cable tray.

[0110] The realization principle of the number of stacking layers of cable reels:

[0111] First collect and analyze the stacking space limit data and obtain the maximum number of stacking layers , and then use the calculated cable tray stacking height limit data and the maximum number of stacking layers Get the number of stacking layers of cable reels , the specific algorithm formula is:

[0112] ;

[0113] in, Refers to the maximum number of stacking layers Calculated cable tray stacking height limit data Make a comparison and take the smaller value of the comparison result;

[0114] Example:

[0115] Cable drum diameter (m); Stacking height limit (m); Maximum number of stacking layers ;

[0116] ;

[0117] =3;

[0118] Total stacking quantity: .

[0119] The stacking position module 32 is used to receive the cable reel characteristic data analyzed in the data analysis unit 1 and the cable reel transverse and longitudinal axis center position data calculated in the transverse and longitudinal position center module 22, and calculate the height position of the cable reel according to the analyzed cable reel characteristic data, and then combine the calculated cable reel height position and the calculated transverse and longitudinal axis center positions of the cable reel into the actual center stacking position of the cable reel, and use a mechanical arm or a robot to automatically stack the cable reel according to the actual center stacking position of the cable reel, so as to realize precise control of the stacking position of the cable reel, determine the actual center stacking position of the cable reel, and ensure that the cable reel is accurately stacked according to the predetermined position and planned method, reduce the situation of stacking misalignment or unstable stacking, and improve the accuracy and stability of stacking;

[0120] Principle of calculating the height position of the cable reel:

[0121] First, collect and analyze the cable drum characteristics data and obtain the cable drum diameter , and then use it to obtain the diameter of the cable drum Calculate the height position of the cable tray and obtain the calculated height position of the cable tray , the specific algorithm formula is:

[0122] ;

[0123] Where k represents the number of layers of the cable tray, and the value range of k is [0, -1];

[0124] Example:

[0125] Number of layers of cable reels ; The value range of k is [0,2]; The diameter of the cable drum (rice);

[0126] Starting layer : , that is, the height of the starting layer is 0 meters (assuming it starts from the ground);

[0127] First floor : 1. The height of the first layer is 1 meter of the height of a plate;

[0128] Second floor : 2. The height of the second layer is 2 meters, which is the height of the two trays;

[0129] Principle of realization of the actual center stacking position of the cable reel:

[0130] First, collect the calculated cable tray horizontal and vertical axis center position data and obtain the calculated single-layer cable tray horizontal axis center position and the calculated longitudinal center position of the cable drum in a single layer , and then use the calculated horizontal axis center position of the cable drum in a single layer , Calculated longitudinal axis center position of the cable tray in a single layer and calculated cable tray height position Combine into the actual center stacking position of the cable reel, and obtain the actual center stacking position of the cable reel , the specific algorithm formula is:

[0131] ;

[0132] Example:

[0133] For Cable Trays : (rice);

[0134] For Cable Trays : (rice);

[0135] First floor : 1. The height of the first layer is 1 meter of the height of a plate;

[0136] ;

[0137] The data judgment unit 4 is used to receive the actual center stacking position of the cable reel in the stacking position module 32, and use the camera to shoot the stacking image of the cable reel from top to bottom according to the actual center stacking position of the cable reel, and then analyze the midpoint position of the cable reel in the stacking image, according to the analyzed midpoint position corresponding to the bottommost cable reel, and draw a vertical line from bottom to top for the analyzed midpoint position data, connect the analyzed midpoint positions corresponding to all the cable reels from bottom to top in the stacking image into a straight line, and then use the vertical line and the straight line to judge the overlap.

[0138] The specific judgment situations in the data judgment unit 4 include:

[0139] Case ①: When the vertical line coincides with the straight line, it means that the stacked cable reels are not tilted, and there is no deviation in the actual center stacking position of the cable reels;

[0140] Case ②: when the vertical line does not coincide with the straight line, it indicates that the stacked cable reels are tilted, and the actual center stacking position of the cable reels has a deviation problem. The command data indicating the deviation of the actual center stacking position is transmitted to the stacking position optimization unit 5.

[0141] The stacking position optimization unit 5 is used to receive the command data of the actual center stacking position deviation from the data judgment unit 4. When receiving the command data of the actual center stacking position deviation, the stacking position optimization unit 5 takes the image data of the cable reel, the stacking area related data, the analyzed cable reel characteristic data and the analyzed stacking space restriction data from the data analysis unit 1, and optimizes the cable reel stacking position according to the image data of the cable reel, the stacking area related data, the analyzed cable reel characteristic data and the analyzed stacking space restriction data by using computer vision technology, and transmits the optimized cable reel stacking position to the stacking position module 32. The stacking position module 32 receives the optimized cable reel stacking position in the stacking position optimization unit 5 and performs automatic stacking.

[0142] The implementation steps of optimizing the stacking position of cable trays by using computer vision technology in stacking position optimization unit 5 are as follows:

[0143] Step ①, first collect the image data of the cable reel, the data related to the stacking area, the analyzed cable reel characteristic data and the analyzed stacking space limitation data, and establish a two-dimensional or three-dimensional model of the stacking area. The data related to the stacking area includes the size, boundary and obstacles of the area;

[0144] Step ②, based on the analyzed cable reel characteristic data, record the characteristics of the cable reel's diameter, height, weight, material, and central axis structure, and then extract the information on the cable reel based on the cable reel's image data, the extracted information includes the cable reel model and identification code;

[0145] Step ③, based on the analyzed stacking space limitation data, record the maximum load-bearing capacity of the stacking location, the maximum allowable stacking height of the stacking area, and the safe distance between the cable reel and obstacles, then use the convolutional neural network to identify the type of cable reel, and classify it according to the identified cable reel type and the analyzed cable reel characteristic data;

[0146] Step ④: Analyze the stacking space of the stacking area and identify obstacles in the stacking area according to the stacking area related data, and then analyze the geometric constraints, physical constraints and safety constraints according to the stacking area related data and the analyzed stacking space restriction data;

[0147] The geometric constraints analyzed include the geometric constraints of space size, stacking height, and tray difficulty; the physical constraints analyzed include the physical constraints of weight, mechanical balance, and stacking strength; the safety constraints analyzed include the safety constraints of safety distance and environmental conditions.

[0148] Step ⑤: formulate a stacking position plan based on the analyzed geometric constraints, analyzed physical constraints and analyzed safety constraints, and then automatically stack the cable reels according to the formulated stacking position plan.

[0149] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent cable reel automatic stacking system, characterized by: It includes a data analysis unit (1), a quantity and horizontal and vertical position unit (2), an automatic stacking unit (3), a data judgment unit (4), and a stacking position optimization unit (5); The data analysis unit (1) uses a camera to capture image data of the cable reel and data related to the stacking area and analyzes the characteristics of the cable reel, and then analyzes the stacking space limitation based on the data related to the stacking area and the analyzed data on the characteristics of the cable reel; The data analysis unit (1) uses a camera to capture image data of the cable reel and data related to the stacking area, and analyzes the weight, size, shape and material characteristics of the cable reel based on the image data of the cable reel, and then analyzes the stacking space limitation based on the data related to the stacking area and the analyzed cable reel characteristic data; The quantity and transverse and longitudinal position unit (2) is used to receive the data in the data analysis unit (1) and calculate the number of cable drums stacked in a single layer, and then calculate the transverse and longitudinal axis center positions of the cable drums in the single layer according to the calculated single layer stacking number; The quantity and transverse and longitudinal position unit (2) comprises a single-layer stacking quantity module (21) and a transverse and longitudinal position center module (22); The single-layer stacking quantity module (21) is used to receive the cable reel characteristic data and the stacking space limitation data analyzed in the data analysis unit (1), and calculate the number of cable reels stacked in a single layer according to the analyzed cable reel characteristic data and the analyzed stacking space limitation data, calculate the number of cable reels stacked from left to right and from front to back in a single layer according to a grid method from left to right and from front to back, and then calculate the total number of cable reels stacked in a single layer according to the calculated number of single-layer stacking from left to right and the calculated number of single-layer stacking from front to back; The calculated single-layer stacking quantity includes the calculated single-layer stacking quantity from left to right and the calculated single-layer stacking quantity from front to back; The horizontal and vertical position center module (22) is used to receive the cable reel characteristic data analyzed in the data analysis unit (1), the analyzed stacking space limitation data and the single-layer stacking quantity calculated in the single-layer stacking quantity module (21), and calculate the horizontal and vertical axis center position of the cable reel in the single layer according to the analyzed cable reel characteristic data, the analyzed stacking space limitation data and the calculated single-layer stacking quantity; The steps for calculating the horizontal and vertical axis center position of the cable drum in a single layer in the horizontal and vertical position center module (22) are as follows: L1. First collect and analyze the cable tray characteristics data , analyze the storage space limit data and the calculated single-layer stacking quantity , and based on the analyzed cable reel characteristics data Get the diameter of the cable drum and the width of the cable tray , and then limit the data according to the analyzed stack space Get safe distance between cable trays , Length of stacking space ; L2, calculated single-layer stacking quantity Includes the calculated number of single-layer stacking from left to right And the number of single-layer stacking from front to back calculated , and use the diameter of the cable reel Safe distance from cable reel Calculate the horizontal axis center position of the cable tray in a single layer and obtain the calculated horizontal axis center position of the cable tray in a single layer , the specific algorithm formula is: ； in, Refers to the horizontal numbering of the cable reel, starting from 0. Refers to the number of the first cable reel. Refers to the number of the second cable reel, and so on; L3. Utilize the width of the cable reel Safe distance from cable reel Calculate the longitudinal center position of the cable drum in a single layer and obtain the calculated longitudinal center position of the cable drum in a single layer , the specific algorithm formula is: ； Where j refers to the longitudinal number of the cable reel, starting from 0. Refers to the number of the first cable reel. Refers to the number of the second cable reel, and so on; L4, calculated center position of the horizontal axis of the cable drum in a single layer and the calculated longitudinal center position of the cable drum in a single layer Get the first The center position of the cable tray , yes The index represents the position number along the horizontal direction, and the value range is , yes The index represents the position number along the vertical direction, and the value range is , and Indicates the numbers of different dimensions, one is the horizontal number and the other is the vertical number. and are not equivalent in these two expressions; The automatic stacking unit (3) is used to receive the data and quantity in the data analysis unit (1) and the transverse and longitudinal axis center position data of the cable reel calculated in the transverse and longitudinal position unit (2), calculate the stacking height limit of the cable reel and the height position of the cable reel, and then combine the calculated height position of the cable reel and the calculated transverse and longitudinal axis center position of the cable reel into the actual center stacking position of the cable reel and perform automatic stacking; The automatic stacking unit (3) comprises a height limiting module (31) and a stacking position module (32); The height restriction module (31) is used to receive the cable reel characteristic data and the stacking space restriction data analyzed in the data analysis unit (1), and calculate the cable reel stacking height restriction based on the analyzed cable reel characteristic data and the analyzed stacking space restriction data, and then analyze the number of cable reel stacking layers based on the calculated cable reel stacking height restriction data and the analyzed stacking space restriction data; Steps to calculate cable tray stacking height limit: First collect and analyze the cable reel characteristics data and analyze the storage space limit data And get the diameter of the cable drum And the limit of stacking height , and then use the diameter of the cable drum And the limit of stacking height Calculate the cable tray stacking height limit and obtain the calculated cable tray stacking height limit data , the specific algorithm formula is: ； Among them, when When there is a decimal in the value of Round down to an integer not greater than The maximum integer of the actual value; The realization principle of the number of stacking layers of cable reels: First collect and analyze the stacking space limit data and obtain the maximum number of stacking layers , and then use the calculated cable tray stacking height limit data and the maximum number of stacking layers Get the number of stacking layers of cable reels , the specific algorithm formula is: ； in, Refers to the maximum number of stacking layers Calculated cable tray stacking height limit data Compare and take the smaller value of the comparison result; The stacking position module (32) is used to receive the cable reel characteristic data analyzed in the data analysis unit (1) and the cable reel transverse and longitudinal axis center position data calculated in the transverse and longitudinal position center module (22), and calculate the height position of the cable reel according to the analyzed cable reel characteristic data, and then combine the calculated cable reel height position and the calculated transverse and longitudinal axis center position of the cable reel into an actual center stacking position of the cable reel, and use a mechanical arm or a robot to automatically stack the cable reel according to the actual center stacking position of the cable reel; Principle of calculating the height position of the cable reel: First, collect and analyze the cable drum characteristics data and obtain the cable drum diameter , and then use it to obtain the diameter of the cable drum Calculate the height position of the cable tray and obtain the calculated height position of the cable tray , the specific algorithm formula is: ； Where k represents the number of layers of the cable tray, and the value range of k is [0, -1]; The data judgment unit (4) is used to receive the actual center stacking position of the cable reel in the automatic stacking unit (3) and use a camera to capture a stacking image of the cable reel from top to bottom, and then judge whether there is a deviation problem in the actual center stacking position of the cable reel based on the midpoint position of the cable reel analyzed in the stacking image; The stacking position optimization unit (5) is used to receive command data from the data judgment unit (4) indicating that there is a deviation in the actual central stacking position, and to obtain data from the data analysis unit (1) to optimize the stacking position of the cable reel.

2. The intelligent cable reel automatic stacking system according to claim 1 is characterized in that: The data judgment unit (4) is used to receive the actual center stacking position of the cable reel in the stacking position module (32), and use a camera to shoot a stacking image of the cable reel from top to bottom according to the actual center stacking position of the cable reel, and then analyze the midpoint position of the cable reel in the stacking image. According to the analyzed midpoint position corresponding to the bottommost cable reel, a vertical line is drawn from bottom to top for the analyzed midpoint position data, and the analyzed midpoint positions corresponding to all the cable reels from bottom to top in the stacking image are connected into a straight line, and then the vertical line and the straight line are used to judge the overlap.

3. The intelligent cable reel automatic stacking system according to claim 1 is characterized in that: The specific judgment situations in the data judgment unit (4) include: Case ①: When the vertical line coincides with the straight line, it means that the stacked cable reels are not tilted, and there is no deviation in the actual center stacking position of the cable reels; Case ②: When the vertical line does not coincide with the straight line, it means that the stacked cable reels are tilted, and the actual center stacking position of the cable reels has a deviation problem. The command data indicating the deviation of the actual center stacking position is transmitted to the stacking position optimization unit (5).

4. The intelligent cable reel automatic stacking system according to claim 1 is characterized in that: The stacking position optimization unit (5) is used to receive command data from the data judgment unit (4) indicating that the actual center stacking position has a deviation. When receiving the command data indicating that the actual center stacking position has a deviation, the stacking position optimization unit (5) obtains the image data of the cable reel, the stacking area related data, the analyzed cable reel characteristic data and the analyzed stacking space restriction data from the data analysis unit (1), and optimizes the cable reel stacking position based on the image data of the cable reel, the stacking area related data, the analyzed cable reel characteristic data and the analyzed stacking space restriction data using computer vision technology, and transmits the optimized cable reel stacking position to the stacking position module (32). The stacking position module (32) receives the cable reel stacking position optimized by the stacking position optimization unit (5) and performs automatic stacking.

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