Unloading system and automatic unloading method and system for multilayer commercial vehicle frame

Abstract

The invention discloses an unloading system and an automatic unloading method and system for a multi-layer commercial vehicle frame, and particularly relates to the technical field of commercial vehicle manufacturing and logistics. The method comprises the steps that a target object is recognized and measured through a 3D camera, and related information of the target object is obtained; according to the related information of the target object, the grabbing position and angle of a grabbing crown block are adjusted; and the grabbing crown block is controlled to descend to the grabbing position, and after the target object is grabbed, the target object is placed at the designated position. According to the unloading system and the automatic unloading method and system for the multi-layer commercial vehicle frame, the unloading efficiency can be improved, manual intervention is reduced, and the safety and integrity of the frame in the unloading process are ensured.

Description

Technical Field

[0001] The present application relates to the field of commercial vehicle manufacturing and logistics technology, and in particular to an unloading system, an automatic unloading method and system for a multi-layer commercial vehicle frame. Background Art

[0002] In traditional unloading operations, operators often rely on visual judgment and manual operation. Specifically, the physical unloading of existing commercial vehicle frames is usually completed by workers manually moving. This unloading method requires workers to move on and off the vehicle repeatedly, which increases the difficulty of unloading the commercial vehicle frame and prolongs the time of unloading the commercial vehicle frame, which is not conducive to the timely transportation of the commercial vehicle frame to the destination. In addition, this often leads to problems such as low unloading efficiency and increased risk of frame damage. Therefore, a technical method that can automate unloading is needed to improve unloading efficiency, reduce frame damage, and ensure the safety and accuracy of the unloading process. Summary of the invention

[0003] The object of the present invention is to provide an unloading system, a method and a system for automatically unloading a multi-layer commercial vehicle frame, which can improve the unloading efficiency, reduce manual intervention, and ensure the safety and integrity of the frame during the unloading process.

[0004] The present invention provides the following scheme:

[0005] According to a first aspect of the present invention, there is provided a cargo unloading system, the cargo unloading system comprising:

[0006] The grab crane is suspended above the target object to be unloaded and can move freely and controlled above the commercial vehicle frame;

[0007] A 3D camera is arranged around the target object to be unloaded, and is used to obtain the position information of the target object to be unloaded based on the captured image information;

[0008] The automatic warehousing device is arranged on the side of the target object to be unloaded and is used for automatically warehousing the unloaded target object.

[0009] In conjunction with the first aspect of the present invention, in a first possible implementation, the 3D camera includes: a length recognition camera, and a height recognition camera;

[0010] The length recognition camera is arranged on the side wall of the grab crane;

[0011] The height recognition camera is arranged on one side of the target object to be unloaded;

[0012] The target object includes: a commercial vehicle frame and a spacing support.

[0013] According to a second aspect of the present invention, there is provided a method for automatically unloading cargo from a multi-layer commercial vehicle frame, which is used in the unloading system as described above, and the method for automatically unloading cargo from a multi-layer commercial vehicle frame comprises:

[0014] Identify and measure the target object through a 3D camera to obtain relevant information of the target object;

[0015] Adjust the grabbing position and angle of the grabbing crane according to the relevant information of the target object;

[0016] Control the grabbing crane to descend to the grabbing position, grab the target object, and place the target object at the designated position;

[0017] Wherein, the 3D camera includes: a length recognition camera and a height recognition camera;

[0018] The length recognition camera includes: a first camera, a second camera, and a third camera;

[0019] The height recognition camera includes: a fourth camera.

[0020] In conjunction with the second aspect of the present invention, in a first possible implementation manner, identifying and measuring a target object by a 3D camera to obtain relevant information of the target object includes:

[0021] Identify and measure the target object through a 3D camera to obtain the type of the target object; or

[0022] The target object is identified and measured by a 3D camera to obtain the position of the target object.

[0023] In combination with the first possible implementation manner of the second aspect of the present invention, in a second possible implementation manner, identifying and measuring the target object by a 3D camera to obtain the type of the target object includes:

[0024] If the rear of the frame is within the detection range of the second camera, it is determined to be a short frame;

[0025] If the rear of the vehicle frame exceeds the detection range of the second camera but does not reach the detection range of the third camera, it is determined to be a mid-frame;

[0026] If the rear end of the vehicle frame is within the detection range of the third camera, it is determined to be a long vehicle frame.

[0027] In combination with the second possible implementation manner of the second aspect of the present invention, in a third possible implementation manner, identifying and measuring the target object by a 3D camera to obtain the type of the target object further includes:

[0028] The first camera captures an image of the head of the frame and uses an image processing algorithm to identify the basic shape and features of the frame;

[0029] The position information of the frame head is determined according to the characteristic points of the frame head, and the center point of the frame head in the Y-axis direction is determined according to the parallel lines on both sides of the head.

[0030] In combination with the second aspect of the present invention, in a fourth possible implementation manner, identifying and measuring the target object by using a 3D camera to obtain the position of the target object includes:

[0031] Calculate the X-axis moving distance of the overhead crane based on the different frame types and the position information of the frame head.

[0032] In combination with the fourth possible implementation manner of the second aspect of the present invention, in a fifth possible implementation manner, identifying and measuring the target object by a 3D camera to obtain the position of the target object further includes:

[0033] According to the images of the rear of the frame captured by the second camera and the third camera, the center point of the rear of the frame in the Y-axis direction is determined using the parallel lines on both sides of the rear;

[0034] Determine the center line of the frame based on the line connecting the center points of the Y axis of the head and tail of the frame;

[0035] The moving distance of the overhead crane in the Y-axis direction is determined according to the distance between the overhead crane and the center line of the frame;

[0036] The angle information that the overhead crane needs to rotate is determined according to the offset angle of the center line in the spatial coordinate system.

[0037] In combination with the fifth possible implementation manner of the second aspect of the present invention, in a sixth possible implementation manner, identifying and measuring the target object by a 3D camera to obtain the position of the target object further includes:

[0038] The fourth camera takes pictures of the side of the frame;

[0039] Determine the center line of the frame in the Z-axis direction based on the parallel lines on the upper and lower sides of the frame;

[0040] Determine the descent height during grabbing based on the distance from the overhead crane to the center line of the Z axis.

[0041] According to a third aspect of the present invention, there is provided a multi-layer commercial vehicle frame automatic unloading system, which is used in the unloading system as described above, and the multi-layer commercial vehicle frame automatic unloading system comprises:

[0042] The recognition and measurement module is used to recognize and measure the target object through a 3D camera and obtain relevant information of the target object;

[0043] An adjustment module, used to adjust the grasping position and angle of the grasping crane according to relevant information of the target object; and

[0044] A control module is used to control the grabbing crane to descend to the grabbing position, grab the target object, and place the target object at a designated position;

[0045] Wherein, the 3D camera includes: a length recognition camera and a height recognition camera;

[0046] The length recognition camera includes: a first camera, a second camera, and a third camera;

[0047] The height recognition camera includes: a fourth camera.

[0048] Through the above scheme, the following beneficial technical effects are obtained:

[0049] (1) Efficiency: The system can automatically complete operations such as frame identification, measurement, grabbing and placement, greatly improving unloading efficiency.

[0050] (2) Accuracy: Through the precise measurement and image processing algorithm of the 3D camera, the system can accurately calculate the X, Y, and Z axis and angle information of the grasping frame without taking full-view pictures of the frame and stitching images, ensuring the precise positioning of the grasping crane.

[0051] (3) Safety: The system uses automated operation to reduce manual intervention, operational risks, and the possibility of frame damage.

[0052] (4) Flexibility: The system can adapt to different types and sizes of frames to meet the diverse needs of commercial vehicle frame unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 is a perspective view of a cargo unloading system provided by one or more embodiments of the present invention;

[0054] Figure 2 is a side view of an unloading system provided by one or more embodiments of the present invention;

[0055] Figure 3 is a flow chart of a method for automatic unloading of a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention;

[0056] Figure 4 is a stereogram of a spatial coordinate system provided by one or more embodiments of the present invention;

[0057] Figure 5 is a flow chart of a method for automatic unloading of a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention;

[0058] Figure 6 is a flow chart of a method for automatic unloading of a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention;

[0059] Figure 7 is a flow chart of a type acquisition operation provided by one or more embodiments of the present invention;

[0060] Figure 8 is a flow chart of a type acquisition operation provided by one or more embodiments of the present invention;

[0061] Fig. 9 is a flow chart of a location acquisition operation provided by one or more embodiments of the present invention;

[0062] Fig.10 is a flow chart of a location acquisition operation provided by one or more embodiments of the present invention;

[0063] Fig.11 is a flow chart of a method for automatic unloading of a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention;

[0064] Fig.12 It is a structural diagram of a multi-layer commercial vehicle frame automatic unloading system provided by one or more embodiments of the present invention. DETAILED DESCRIPTION

[0065] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0066] Figure 1 and Figure 2 A stereoscopic diagram and a test diagram of an unloading system provided by one or more embodiments of the present invention are respectively shown.

[0067] See also Figure 1 and Figure 2 The multi-layer commercial vehicle frame automatic unloading system includes: a grabbing crane 101. The grabbing crane 101 is usually suspended above the vehicle to be unloaded. When performing the unloading operation, the grabbing crane 101 approaches the commercial vehicle frame to be unloaded from above the vehicle, grabs the commercial vehicle frame, and then moves, thereby completing the unloading operation of the commercial vehicle frame from the carrier vehicle.

[0068] The difference from other unloading machines is that Figure 1 and Figure 2 The unloading operation performed by the multi-layer commercial vehicle frame automatic unloading system shown is an automated unloading operation process. The entire unloading operation process does not require manual intervention and can complete the unloading operation fully automatically.

[0069] An important factor in the full automatic unloading operation is that the multi-layer commercial vehicle frame automatic unloading system is equipped with a 3D camera. The 3D camera can automatically capture the surrounding visual images. Based on the captured visual images, the 3D camera can automatically identify the target object to be unloaded on the transport vehicle. The target object is usually the commercial vehicle frame that has been transported. For safety reasons during transportation, spacer supports are also placed between the commercial vehicle frames in the multi-layer area. Therefore, during the unloading process, the target object to be unloaded also includes: spacer supports.

[0070] Since the multi-layer commercial vehicle frame automatic unloading system is equipped with a 3D camera, the system can automatically identify the objects that need to be unloaded on the vehicle, automatically adjust the grabbing angle and grabbing position of the grabbing crane, automatically control the grabbing crane to approach the objects that need to be unloaded, and automatically grab and unload the objects that need to be unloaded.

[0071] 3D cameras are divided into two groups. One group of cameras is used to identify the position of the target object in the horizontal plane, and the other group of cameras is used to identify the position of the target object in the vertical direction. The cameras used to identify the position in the horizontal plane are called length recognition cameras, and the cameras used to identify the position in the vertical direction are called height recognition cameras.

[0072] Since the 3D cameras are divided into two groups, they can identify the position of the target object in the horizontal plane and in the vertical direction respectively. The position data of the object identified by these 3D cameras will be very accurate. Since the position data identified by the 3D cameras is very accurate, the action of grabbing the overhead crane will also be controlled very accurately, making the grabbing action of the entire system accurate and correct.

[0073] It should be noted that the entire process from image acquisition, image recognition, position determination, to crane movement, implementation of movement, and unloading of items does not require any image stitching operations. Therefore, the entire process is greatly simplified and the motion control accuracy is extremely high.

[0074] In addition, since a 3D camera is used and a visual method is used to identify the target object to be unloaded, the unloading process of commercial vehicle frames of different models can be completed by the system. The unloading failure of the system will not be caused by the commercial vehicle frames of different signals loaded on the vehicle, and it will not be unusable. In other words, any commercial vehicle frame of any signal loaded on the vehicle can be automatically unloaded by the system provided by this embodiment.

[0075] More specifically, the system is equipped with a total of four different 3D cameras, three of which are used as length recognition cameras and the other one as a height recognition camera.

[0076] Three different length recognition cameras are set on the side wall of the grab crane, and another height recognition camera is configured on the ground, specifically on the side of the unloaded object, or the parking position of the vehicle.

[0077] In addition to the grab crane and 3D camera, the system is also equipped with an automatic storage device, which automatically stores the unloaded items.

[0078] Figure 3 A flow chart of a method for automatically unloading cargo from a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention is shown. Figure 3 The automatic unloading method of a multi-layer commercial vehicle frame includes the following steps:

[0079] S31, identifying and measuring the target object through a 3D camera to obtain relevant information of the target object.

[0080] S32, adjusting the grabbing position and angle of the grabbing crane according to the relevant information of the target object.

[0081] S33, controlling the grabbing crane to descend to the grabbing position, grabbing the target object, and placing the target object at a designated position.

[0082] In various embodiments of the present invention, the target object to be unloaded from the vehicle is physically identified and measured by visual means. The reason why the target object can be identified and measured by visual means is that a 3D camera is equipped in the system. Specifically, the 3D camera may be set on the side wall of the grab crane and on one side of the vehicle parking position.

[0083] After being equipped with 3D cameras, the type, location, and even model of the target object to be unloaded can be accurately known by identifying the images obtained by each 3D camera.

[0084] Since the relevant information of the target object is accurately obtained by equipping the 3D camera, when performing the unloading action of the target object, the grasping position and angle of the grasping crane can be adjusted according to the relevant information that has been obtained, thereby achieving accurate grasping of the target object.

[0085] In various embodiments of the present invention, the target object includes: a commercial vehicle frame, and a spacing support stacked between different commercial vehicle frames.

[0086] When performing the grabbing action of the target object, the component that performs the grabbing action on the commercial vehicle frame is the clamping device. The component that grabs the spacing support is the magnetic suction device.

[0087] It is understandable that both the clamping claw device and the magnetic suction device need to maintain a fixed mechanical connection with the grabbing crane in order to complete the grabbing action of the relevant objects under the control of the grabbing crane.

[0088] In addition, for commercial vehicle frames, after the grabbing crane completes the grabbing action, it will place it on the automatic storage device. The automatic storage device will then automatically complete the storage operation for the commercial vehicle frame placed on it, which can ensure the safe and automatic storage of the commercial vehicle frame.

[0089] As for the spacing support, its function is only to separate the frames of different layers. Therefore, the spacing support does not need any warehousing operation, but needs to be saved separately.

[0090] It is for this reason that after the grabbing crane completes the grabbing operation for the spacing support, it does not place the grabbed spacing support on the automatic storage device, but only places the grabbed spacing support at the designated position.

[0091] After the entire vehicle frame is unloaded, the spacer support is grabbed back onto the truck using a magnetic suction device to prepare for the truck's departure.

[0092] When controlling the movement of the grab crane, it is necessary to pre-establish a spatial coordinate system in space so as to accurately control the movement of the grab crane in space.

[0093] Specifically, the established spatial coordinate system is a spatial rectangular coordinate system, which means that the established spatial coordinate system includes an X-axis, a Y-axis, and a Z-axis that are perpendicular to each other.

[0094] In the parking position of the transport vehicle, the X-axis extends along the length direction of the commercial vehicle frame, the Y-axis extends along the width direction of the commercial vehicle frame, and the vertical direction corresponds to the Z-axis.

[0095] Figure 4 The relative positional relationship between the X-axis, Y-axis and Z-axis and the commercial vehicle frame is specifically shown.

[0096] The 3D camera is divided into a length recognition camera and a height recognition camera, which capture images in the length direction and height direction of the frame respectively, thereby completing the recognition of the type and parameters of the target object.

[0097] In particular, three length recognition cameras are arranged in a group on the side wall surface of the grabbing crane. Moreover, in the actual grabbing action, the side wall surface of the grabbing crane is parallel to the length direction of the frame. In other words, the side wall surface of the grabbing crane is parallel to the X axis of the space coordinate system.

[0098] The setting heights of the three length recognition cameras on the side wall surface should be consistent. Moreover, the interval lengths between the three different length recognition cameras should also be the same.

[0099] Based on the above-mentioned position arrangement of the three length recognition cameras on the side wall surface, the current position of the commercial vehicle frame to be grasped, that is, the position in the X-axis direction, and whether the commercial vehicle frame to be grasped is a long frame, a medium frame, or a short frame can be accurately judged based on the images collected by the three length recognition cameras. In other words, the model of the frame to be grasped can be accurately judged based on the images collected by the three length recognition cameras.

[0100] The height recognition camera is set on one side of the loading vehicle parking space. The lens of the height recognition camera is also aimed at the commercial vehicle frame that needs to perform the grabbing and unloading operations, as well as the spacing supports between the commercial vehicle frames stacked on different layers. Through further analysis of the images collected by the height recognition camera, the vertical position of the current object to be grabbed can be accurately known. In this way, the grabbing crane can be accurately controlled, that is, the vertical stroke value of the grabbing crane can be accurately determined to perform precise grabbing operations.

[0101] More specifically, the three length recognition cameras are respectively referred to as a first camera 102 , a second camera 103 , and a third camera 104 , and the height recognition camera is referred to as a fourth camera 105 .

[0102] Figure 5 A flow chart of a method for automatically unloading cargo from a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention is shown. Figure 5 The automatic unloading method of a multi-layer commercial vehicle frame includes the following steps:

[0103] S51, identifying and measuring the vehicle frame through a 3D camera to obtain relevant information of the vehicle frame.

[0104] S52, adjusting the grabbing position and angle of the grabbing crane according to the relevant information of the frame.

[0105] S53, controlling the grabbing crane to descend to the grabbing position, grabbing the frame, and placing the frame at a designated position.

[0106] In by Figure 5 In the illustrated embodiment, the complete process from grabbing to warehousing of each layer of the stacked commercial vehicle frames is fully embodied.

[0107] First, the 3D camera is used to identify and measure the frame. The so-called identification is the identification of the frame type and specific parameters.

[0108] In the embodiment of the present invention, the unloaded vehicle frames include: a short vehicle frame, a medium vehicle frame and a long vehicle frame, which can be distinguished from each other based on the length of the vehicle frames themselves.

[0109] Specifically, the length of the short frame is within the visual detection range of the second camera 103. That is, when the head position of the short frame is directly opposite to the shooting position of the first camera 102, the tail position of the short frame can be detected by the second camera 103.

[0110] The length of the middle frame exceeds the visual detection range of the second camera 103. At the same time, the visual detection range of the third camera 104 is not sufficient to detect the tail of the middle frame. In other words, when the head position of the middle frame is directly opposite to the shooting position of the first camera 102, the third camera 104 is not sufficient to detect the tail position of the middle frame, and at the same time, the tail position of the middle frame exceeds the detection range of the second camera 103.

[0111] The length of the long frame also exceeds the visual detection range of the second camera 103. However, the tail position of the long frame can be detected by the third camera 104. That is, when the head position of the long frame is directly opposite to the shooting position of the first camera 102, the third camera 104 can detect the tail position of the long frame.

[0112] The so-called measurement mainly refers to the measurement of the position information of the frame, that is, the measurement of the position information on the X-axis, the Y-axis, and the Z-axis. Moreover, the above-mentioned measurement action is measured by visual means.

[0113] Through further analysis of the captured images, the exact position of the frame in space can be obtained, and the distance that the grabbing crane needs to move on the X-axis, Y-axis, and Z-axis during the grabbing action can be determined.

[0114] Next, the grabbing crane is controlled to approach the frame to be grabbed. The above approaching action is performed according to the predetermined moving distance. Therefore, the above approaching action is a series of precise control actions. After completing the above approaching action, the frame is grabbed.

[0115] After the frame is grabbed, the grab crane places the grabbed frame on the automatic storage device, which automatically stores the commercial vehicle frame placed on it.

[0116] Figure 6 A flow chart of a method for automatically unloading cargo from a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention is shown. Figure 6 The automatic unloading method of a multi-layer commercial vehicle frame includes the following steps:

[0117] S61, identifying and measuring the target object through a 3D camera to obtain relevant information of the spacing support.

[0118] S62, adjusting the grabbing position and angle of the grabbing crane according to the relevant information of the interval support.

[0119] S63, controlling the grabbing crane to descend to the grabbing position, grabbing the spacing support, and placing the spacing support at a designated position.

[0120] Depend on Figure 6 The method execution process shown is a pick-and-place process for a dedicated spacing support.

[0121] The spacer is a relatively small item compared to the commercial vehicle frame that needs to be unloaded. It is made of metal. When the commercial vehicle frames are stacked in multiple layers for frame transportation, these spacer supports are placed between the upper and lower layers of commercial vehicle frames to separate the frames of different layers.

[0122] Since the spacer supports are necessary items in the process of layered stacking and layered transportation of commercial vehicle frames, grabbing and recycling the spacer supports is also a necessary process in the process of unloading the commercial vehicle frames.

[0123] Similar to the process of unloading a commercial vehicle frame, the unloading and recovery process of the spacer support also includes the steps of identification and measurement, position angle adjustment, and grasping and placement.

[0124] The recognition and measurement of the spacer support is also achieved through the visual function. That is to say, firstly, the image of the spacer support is acquired through the length recognition camera and the height recognition camera. Then, by analyzing the acquired image, some relevant parameters such as the position of the spacer support to be unloaded are obtained. Finally, the grabbing crane is controlled to grab the spacer support according to the recognized parameters.

[0125] During the grabbing operation of the spacer support, the operating component for performing the grabbing operation is no longer the clamping device, but the magnetic device. The magnetic device is arranged at a position similar to the clamping device, and is arranged at the end of the lower part of the grabbing crane.

[0126] After completing the grabbing operation for the spacer support, the grabbed spacer support is placed at the designated position. After the whole vehicle frame is unloaded, the spacer support is grabbed back onto the truck.

[0127] After confirming that all frames and spacing supports have been properly processed and placed, the truck can leave the unloading area.

[0128] Figure 7The flowchart of the type acquisition operation in the automatic unloading method of a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention is shown. Figure 7 , the type acquisition operation includes the following steps:

[0129] S71: If the rear of the vehicle frame is within the detection range of the second camera 103, it is determined to be a short vehicle frame.

[0130] S72: If the rear of the vehicle frame exceeds the detection range of the second camera 103 but does not reach the detection range of the third camera 104, it is determined to be a mid-frame.

[0131] S73: If the rear of the vehicle frame is within the detection range of the third camera 104, it is determined to be a long vehicle frame.

[0132] In the embodiment of the present invention, the commercial vehicle frames are divided into: short frame, medium frame and long frame. The three frames have different sizes, so during the unloading process, the control parameters of the overhead crane should be adjusted accordingly according to the types of these frames.

[0133] For example, when grabbing a short frame, since the length of the object to be grabbed is relatively short, only one clamping device can be used in the length direction of the short frame to complete the grabbing operation. However, for a long frame, since the object to be grabbed is relatively long, only one clamping device in the length direction cannot complete the grabbing of the long frame. If only one clamping device is used in the length direction, during the process of grabbing and placing, the grabbed long frame is likely to tilt, fall, etc. due to unbalanced force, and in severe cases, the long frame may be damaged during the grabbing process.

[0134] The identification of the short frame, the medium frame and the long frame is also determined based on the visual information. Specifically, the identification is determined based on the information that the end of the frame can be detected within the visual range of the second camera 103 or the third camera 104.

[0135] For a short frame, its end can be detected by the second camera 103. For a medium frame, its end has exceeded the detection range of the second camera 103, but is not within the detection range of the third camera 104. For a long frame, due to its long length, it is already within the detection range of the third camera 104.

[0136] It should be noted that the above-mentioned inspection specifications for short frames, medium frames and long frames are based on a basic assumption, that is, on the side wall of the grabbing crane, the first camera 102, the second camera 103, and the third camera 104 are arranged in sequence from the head to the tail of the frame, and the order will not be reversed.

[0137] Figure 8 The flowchart of the type acquisition operation in the automatic unloading method of a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention is shown. Figure 8 , the type acquisition operation includes the following steps:

[0138] S81, the first camera 102 captures an image of the head of the frame, and identifies the basic shape and features of the frame through an image processing algorithm.

[0139] S82, determining the position information of the frame head according to the feature points of the frame head, and determining the center point of the frame head in the Y-axis direction according to the parallel lines on both sides of the head.

[0140] S83: If the rear of the vehicle frame is within the detection range of the second camera 103, it is determined to be a short vehicle frame.

[0141] S84: If the rear of the vehicle frame exceeds the detection range of the second camera 103 but does not reach the detection range of the third camera 104, it is determined to be a mid-frame.

[0142] S85: If the rear of the vehicle frame is within the detection range of the third camera 104, it is determined to be a long vehicle frame.

[0143] Compared to Figure 7 The embodiment shown is composed of Figure 8 In the illustrated embodiment, an alignment action of the first camera 102 to the head of the vehicle frame is added.

[0144] Specifically, in steps S81 and S82, the first camera 102 captures images and recognizes the basic shape and features of the frame through the images.

[0145] Then, based on the acquired image and common image features of the frame head, the position of the frame head is determined.

[0146] The image feature of the head may be the distribution of the boundary points of the image on the two-dimensional image. For example, once the head of the frame appears in the image, the boundary points of the image may appear frequently in the horizontal direction of the image, while in the image without the head, such a situation will not occur.

[0147] After identifying the position where the head appears, the position of the head in the X-axis direction can naturally be determined.

[0148] Furthermore, the center point of the head in the Y-axis direction can be determined.

[0149] The center point needs to be determined based on the parallel lines on both sides of the head.

[0150] Specifically, you can first measure the distance between the parallel lines on both sides, halve the distance between the two, and then draw a center line parallel to the two parallel lines at the midpoint of the halved distance. The intersection of this center line and the head end line is the center point of the frame head in the Y-axis direction.

[0151] Fig. 9 The flowchart of the position acquisition operation in the automatic unloading method of a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention is shown. Fig. 9 , the location acquisition operation includes the following steps:

[0152] S91, based on the image of the rear of the frame captured by the second camera 103 and the third camera 104, the center point of the rear of the frame in the Y-axis direction is determined using the parallel lines on both sides of the rear.

[0153] S92, determining the center line of the frame according to a line connecting the center points of the Y axis of the head and the tail of the frame.

[0154] S93, determining the moving distance of the overhead travelling crane in the Y-axis direction according to the distance between the overhead travelling crane and the center line of the vehicle frame.

[0155] S94, determining the angle information at which the overhead travelling crane needs to rotate according to the offset angle of the center line in the space coordinate system.

[0156] The operation of determining the midpoint on the Y axis can be performed as follows: first obtain a boundary line of the rear of the frame, connect the two end points of this boundary point, and then find the midpoint of this connection. This midpoint is the center point of the rear of the frame in the Y axis direction.

[0157] Since the center point of the frame head on the Y-axis has been obtained in the previous operation, the center point of the head and the center point of the tail are connected to obtain the center line of the frame.

[0158] Once the center line of the frame on the Y axis is determined, the distance that the grab crane needs to move on the Y axis can be obtained.

[0159] It should be noted that the moving distance should be determined by the distance between the center point of the frame centerline and the center point of the overhead crane on the Y axis. In other words, the moving distance should be measured by the projection of the spatial distance between the center points on the Y axis. The reason for this measurement is mainly to ensure the accuracy of the moving action.

[0160] After the Y-axis moving distance is measured, it is necessary to further determine whether there is an angle offset. If there is a misalignment in the angle, further angle adjustment is required.

[0161] Fig.10The flowchart of the position acquisition operation in the automatic unloading method of a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention is shown. Fig.10 , the location acquisition operation includes the following steps:

[0162] S101, the fourth camera 105 photographs the side of the frame;

[0163] S102, determining the center line of the frame in the Z-axis direction according to the parallel lines at the upper and lower sides of the frame.

[0164] S103, determining the descending height during grasping according to the distance from the overhead crane to the center line of the Z axis.

[0165] Depend on Fig.10 The illustrated embodiment can be specifically used to determine the moving distance of the overhead traveling vehicle in the Z-axis direction.

[0166] Specifically, the fourth camera 105 is used to collect images. After the image collection is completed, the center line of the frame on the Z axis is determined.

[0167] The center line is determined based on the parallel lines on the upper and lower sides of the frame. You can first find the distance between the upper and lower parallel lines, halve the distance, and draw another parallel line parallel to the upper and lower parallel lines at the half position. This parallel line is the center line of the frame in the Z-axis direction.

[0168] After determining the center line in the Z-axis direction, the moving distance of the frame in the Z-axis direction can be determined.

[0169] Typically, the distance moved on the Z axis is equal to the distance between the current position of the overhead crane and the centerline, minus half of the total size of the frame on the Z axis.

[0170] Fig.11 A flow chart of a method for automatically unloading cargo from a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention is shown. Fig.11 The automatic unloading method of a multi-layer commercial vehicle frame includes the following steps:

[0171] S111, truck is in place.

[0172] S112, the overhead crane moves to the camera photo taking position.

[0173] S113, four cameras take photos.

[0174] S114, grab the frame.

[0175] S115 , the rear end of the vehicle frame is within the detection range of the second camera 103 .

[0176] S116, determining that the frame is short, and determining the moving distance of the X-axis of the overhead traveling crane.

[0177] S117 , the rear end of the vehicle frame exceeds the detection range of the second camera 103 and is not within the detection range of the third camera 104 .

[0178] S118, determining that it is a middle frame, and determining the moving distance of the X-axis of the overhead travelling crane.

[0179] S119 , the rear end of the vehicle frame is within the detection range of the third camera 104 .

[0180] S120, determining that the frame is long, and determining the moving distance of the X-axis of the overhead travelling crane.

[0181] S121, three cameras work together to measure the size and angle information of the frame on the Y axis.

[0182] S122, the fourth camera 105 measures the height Z-axis information of the vehicle computer.

[0183] S123, integrating the information through an algorithm to form available x, y, z moving distance and rotation angle information of the overhead crane.

[0184] S124, all information is transmitted to the overhead crane controller through the data interface.

[0185] S125, the grabbing crane starts to move, and the frame is grabbed by the clamping claw device.

[0186] S126, the captured vehicle frame is placed on the automatic storage device and sent to the three-dimensional warehouse.

[0187] S127, grab interval support.

[0188] S128, three cameras measure the position information of the spacer support.

[0189] S129, the fourth camera 105 measures the height Z-axis information of the frame.

[0190] S130, integrating the information through an algorithm to form available x, y, z moving distance and rotation angle information of the overhead crane.

[0191] S131, all information is transmitted to the overhead crane controller through the data interface.

[0192] S132, the grabbing crane starts to move, and the magnetic suction device is used to grab the interval support.

[0193] S133, placing the captured spacing support at a designated position.

[0194] S134, whether all the goods on the truck frame are unloaded, if yes, jump to S135, if not, jump to S112.

[0195] S135, using the magnetic suction device to grab the spacing support back to the truck, and the truck leaves.

[0196] Fig.12 The structure diagram of the automatic unloading system for multi-layer commercial vehicle frames provided by one or more embodiments of the present invention is shown. Fig.12 , the multi-layer commercial vehicle frame automatic unloading system includes:

[0197] The identification and measurement module 1201 is used to identify and measure the target object through a 3D camera to obtain relevant information of the target object.

[0198] The adjustment module 1202 is used to adjust the grasping position and angle of the grasping crane according to the relevant information of the target object.

[0199] The control module 1203 is used to control the grabbing crane to descend to the grabbing position, grab the target object, and place the target object at a designated position.

[0200] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cargo unloading system, characterized in that: include: The grab crane is suspended above the target object to be unloaded and can move freely and controlled above the commercial vehicle frame; A 3D camera is arranged around the target object to be unloaded, and is used to obtain the position information of the target object to be unloaded based on the captured image information; The automatic warehousing device is arranged on the side of the target object to be unloaded and is used for automatically warehousing the unloaded target object.

2. The unloading system according to claim 1, characterized in that: The 3D camera includes: a length recognition camera and a height recognition camera; The length recognition camera is arranged on the side wall of the grab crane; The height recognition camera is arranged on one side of the target object to be unloaded; The target object includes: a commercial vehicle frame and a spacing support.

3. A method for automatically unloading a multi-layer commercial vehicle frame, used in the unloading system as claimed in claim 1 or 2, characterized in that: The method for automatically unloading a multi-layer commercial vehicle frame comprises: Identify and measure the target object through a 3D camera to obtain relevant information of the target object; Adjust the grabbing position and angle of the grabbing crane according to the relevant information of the target object; Control the grabbing crane to descend to the grabbing position, grab the target object, and place the target object at the designated position; Wherein, the 3D camera includes: a length recognition camera and a height recognition camera; The length recognition camera includes: a first camera, a second camera, and a third camera; The height recognition camera includes: a fourth camera.

4. The method according to claim 3, characterized in that: The target object is identified and measured by a 3D camera to obtain relevant information of the target object, including: Identify and measure the target object through a 3D camera to obtain the type of the target object; or The target object is identified and measured by a 3D camera to obtain the position of the target object.

5. The method according to claim 4, characterized in that The target object is identified and measured by a 3D camera to obtain the type of the target object, including: If the rear of the frame is within the detection range of the second camera, it is determined to be a short frame; If the rear of the vehicle frame exceeds the detection range of the second camera but does not reach the detection range of the third camera, it is determined to be a mid-frame; If the rear end of the vehicle frame is within the detection range of the third camera, it is determined to be a long frame.

6. The method according to claim 5, characterized in that Identify and measure the target object through the 3D camera to obtain the type of the target object, including: The first camera captures an image of the head of the frame and uses an image processing algorithm to identify the basic shape and features of the frame; The position information of the frame head is determined according to the characteristic points of the frame head, and the center point of the frame head in the Y-axis direction is determined according to the parallel lines on both sides of the head.

7. The method according to claim 3, characterized in that The target object is identified and measured by a 3D camera to obtain the position of the target object, including: Calculate the X-axis moving distance of the overhead crane based on the different frame types and the position information of the frame head.

8. The method according to claim 7, characterized in that The target object is identified and measured by a 3D camera to obtain the position of the target object, and also includes: According to the images of the rear of the frame captured by the second camera and the third camera, the center point of the rear of the frame in the Y-axis direction is determined using the parallel lines on both sides of the rear; Determine the center line of the frame based on the line connecting the center points of the Y axis of the head and tail of the frame; The moving distance of the overhead crane in the Y-axis direction is determined according to the distance between the overhead crane and the center line of the frame; The angle information that the overhead crane needs to rotate is determined according to the offset angle of the center line in the spatial coordinate system.

9. The method according to claim 8, characterized in that The target object is identified and measured by a 3D camera to obtain the position of the target object, and also includes: The fourth camera takes pictures of the side of the frame; Determine the center line of the frame in the Z-axis direction based on the parallel lines on the upper and lower sides of the frame; Determine the descent height during grabbing based on the distance from the overhead crane to the center line of the Z axis.

10. An automatic unloading system for a multi-layer commercial vehicle frame, used in the unloading system as claimed in claim 1 or 2, characterized in that: The multi-layer commercial vehicle frame automatic unloading system comprises: The recognition and measurement module is used to recognize and measure the target object through a 3D camera and obtain relevant information of the target object; An adjustment module, used to adjust the grasping position and angle of the grasping crane according to relevant information of the target object; and A control module is used to control the grabbing crane to descend to the grabbing position, grab the target object, and place the target object at a designated position; Wherein, the 3D camera includes: a length recognition camera and a height recognition camera; The length recognition camera includes: a first camera, a second camera, and a third camera; The height recognition camera includes: a fourth camera.

Images