Unloading system, multilevel commercial vehicle frame automatic unloading method and system

Abstract

The application discloses an unloading system and a multilayer commercial vehicle frame automatic unloading method and system, and particularly relates to the technical field of commercial vehicle manufacturing and logistics. The method comprises the following steps: a target object is recognized and measured by a 3D camera to obtain relevant information of the target object; the grabbing position and angle of a grabbing overhead crane are adjusted according to the relevant information of the target object; the grabbing overhead crane is controlled to descend to the grabbing position, and after the target object is grabbed, the target object is placed at a specified position. The unloading system, the multilayer commercial vehicle frame automatic unloading method and the system can improve unloading efficiency, reduce manual intervention, and ensure the safety and integrity of the frame during the unloading process.

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, a method and system for automatically unloading multi-layer commercial vehicle frames. Background Art

[0002] Traditional unloading operations often rely on the operator's visual judgment and manual operation. Specifically, the physical unloading of existing commercial vehicle frames is usually completed by workers manually moving them. 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 it takes to unload the commercial vehicle frame, making it difficult for the commercial vehicle frame to arrive at the destination on time. 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 purpose of the present invention is to provide an unloading system, a method and system for automatically unloading multi-layer commercial vehicle frames, which can improve unloading efficiency, reduce manual intervention, and ensure the safety and integrity of the frames during the unloading process.

[0004] The present invention provides the following solutions:

[0005] According to a first aspect of the present invention, there is provided a 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 to automatically warehouse 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 grabbing 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 spacer 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. The method comprises:

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

[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, identifying and measuring a target object using a 3D camera to obtain relevant information about the target object includes:

[0021] Identify and measure the target object using 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 conjunction with the first possible implementation manner of the second aspect of the present invention, in a second possible implementation manner, identifying and measuring a target object using a 3D camera to obtain the type of the target object includes:

[0024] If the rear end of the vehicle 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 conjunction with the second possible implementation manner of the second aspect of the present invention, in a third possible implementation manner, identifying and measuring a target object using a 3D camera to obtain the type of the target object further includes:

[0028] The first camera captures an image of the frame head 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 feature 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 conjunction with the second aspect of the present invention, in a fourth possible implementation, identifying and measuring a target object using a 3D camera to obtain a position of the target object includes:

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

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

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

[0034] Determine the center line of the frame based on the line connecting the Y-axis center points 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 based on the offset angle of the center line in the spatial coordinate system.

[0037] In conjunction with the fifth possible implementation manner of the second aspect of the present invention, in a sixth possible implementation manner, identifying and measuring a target object using a 3D camera to obtain a 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 grasping based on the distance from the overhead crane to the centerline 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 for use in the unloading system as described above, wherein 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, configured to adjust the gripping position and angle of the gripping crane according to relevant information of the target object; and

[0044] The 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 the designated location;

[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 solution, the following beneficial technical effects are achieved:

[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 a full picture of the frame and stitching the images, ensuring the precise positioning of the grasping crane.

[0051] (3) Safety: The system adopts automated operation, which reduces 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 an 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] Figure 9 is a flowchart of a location acquisition operation provided by one or more embodiments of the present invention;

[0062] Figure 10 is a flowchart of a location acquisition operation provided by one or more embodiments of the present invention;

[0063] Figure 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] Figure 12 1 is a structural diagram of an automatic unloading system for a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention. DETAILED DESCRIPTION

[0065] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0066] Figure 1 and Figure 2 A three-dimensional 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 typically suspended above the vehicle to be unloaded. During the unloading operation, the grabbing crane 101 approaches the commercial vehicle frame from above the vehicle, grabs the frame, and then moves to complete 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 is an automated unloading operation process. The entire unloading operation process does not require human intervention and can be completed fully automatically.

[0069] A key factor in enabling fully automated unloading is the 3D camera installed in the multi-layer commercial vehicle frame automatic unloading system. This camera automatically captures surrounding visual images. Based on these images, it automatically identifies the target object to be unloaded from the transport vehicle. This target object is typically a commercial vehicle frame. For safety reasons during transportation, spacers are placed between the commercial vehicle frames in the multi-layer area. Therefore, during the unloading process, the target object also includes the spacers.

[0070] Since the automatic unloading system for multi-layer commercial vehicle frames is equipped with a 3D camera, the system can automatically identify 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 identifies the horizontal position of the target object, and the other identifies the vertical position of the target object. The cameras used to identify the horizontal position are called length recognition cameras, and the cameras used to identify the vertical position are called height recognition cameras.

[0072] Because the 3D cameras are divided into two groups, one for identifying the horizontal and the other for identifying the vertical position of the target object, the position data identified by these 3D cameras is very accurate. Because the position data identified by the 3D cameras is very accurate, the movement of the grabbing crane can also be controlled very precisely, making the entire system's grasping action precise and error-free.

[0073] It should be noted that the entire process, from image acquisition, image recognition, position determination, to overhead crane movement, implementation, and unloading, does not require any image stitching. This greatly simplifies the entire process and achieves extremely high motion control precision.

[0074] Furthermore, due to the use of a 3D camera and visual identification of the target object to be unloaded, the system can be used to unload commercial vehicle frames of various models. This eliminates the system's unloading failures and renders it unusable due to the presence of commercial vehicle frames with different signal types on the vehicle. In other words, commercial vehicle frames of any signal type loaded on the vehicle can be automatically unloaded using the system provided by this embodiment.

[0075] More specifically, the system is equipped with a total of four different 3D cameras, three of which serve 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 vehicle's parking position.

[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 The flowchart of the automatic unloading method of 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 grasping position and angle of the grasping 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 physical identification and measurement of objects to be unloaded from the vehicle are performed visually. This visual identification and measurement is possible because the system is equipped with a 3D camera. Specifically, the 3D camera may be located on the side wall of the overhead crane or on one side of the vehicle's docking location.

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

[0084] Since the relevant information of the target object is accurately obtained by equipping the 3D camera, when performing the unloading operation of the target object, the grasping position and angle of the grasping crane can be adjusted according to the relevant information already 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 spacer supports stacked between different commercial vehicle frames.

[0086] When performing the grabbing action on the target object, the component that grabs the commercial vehicle frame is the gripper device, and the component that grabs the spacer support is the magnetic device.

[0087] It is understandable that both the gripping 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 crane completes the grabbing operation, it places the frame onto the automatic storage device. The automatic storage device will then automatically complete the storage operation for the commercial vehicle frame placed on it, ensuring 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 to be put into storage, but needs to be stored separately.

[0090] It is for this reason that after the grabbing crane completes the grabbing operation for the spacer support, it does not place the grabbed spacer support on the automatic storage device, but only places the grabbed spacer 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, preparing 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 rectangular spatial 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 Specifically shown are the relative positional relationships between the X-axis, Y-axis, and Z-axis and the commercial vehicle frame.

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

[0097] Specifically, three length recognition cameras are placed on the sidewalls of the grabbing crane. Furthermore, during the actual grabbing operation, the sidewalls of the grabbing crane are parallel to the length of the crane frame. In other words, the sidewalls of the grabbing crane are aligned with the X-axis of the spatial coordinate system.

[0098] The three length recognition cameras should be set at the same height on the side wall surface. Moreover, the distances between the three different length recognition cameras should also be the same.

[0099] Based on the aforementioned arrangement of the three length recognition cameras on the sidewall surface, the images captured by each of the three cameras can accurately determine the current position of the commercial vehicle frame to be grasped, that is, its position in the X-axis direction, and whether it is a long, medium, or short frame. In other words, the images captured by the three length recognition cameras can accurately determine the model of the vehicle frame to be grasped.

[0100] A height recognition camera is installed on one side of the loading bay. Its lens is trained on the commercial vehicle frames where the pick-up and unloading operations are to be performed, as well as the supports between stacked commercial vehicle frames. Further analysis of the images captured by the height recognition camera accurately determines the vertical position of the object being picked up. This allows for precise control of the pick-up crane, specifically its vertical travel, allowing for accurate pick-up 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 The flowchart of the automatic unloading method of 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 about the vehicle frame.

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

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

[0106] In by Figure 5 The illustrated embodiment fully embodies the entire process of grabbing and storing each layer of stacked commercial vehicle frames.

[0107] First, the 3D camera is used to identify and measure the frame. Identification refers to the identification of the frame type and specific parameters.

[0108] In the embodiment of the present invention, the unloaded vehicle frames include: short frames, medium frames, and long frames, which can be distinguished based on their lengths.

[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 aligned with 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 mid-frame exceeds the visual detection range of the second camera 103. Simultaneously, the visual detection range of the third camera 104 is insufficient to detect the rear end of the mid-frame. In other words, when the head of the mid-frame is directly aligned with the image capture position of the first camera 102, the third camera 104 is unable to detect the rear end of the mid-frame. Furthermore, the rear end of the mid-frame is beyond 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 rear end of the long frame can be detected by the third camera 104. In other words, when the head of the long frame is directly aligned with the shooting position of the first camera 102, the third camera 104 can detect the rear end 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, Y-axis, and Z-axis. Moreover, the above-mentioned measurement action is measured by visual means.

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

[0114] Next, the grabbing crane is controlled to approach the frame to be grabbed. This approach is performed based on a predetermined movement distance. Therefore, it is a series of precisely controlled movements. After completing the approach, 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 The flowchart of the automatic unloading method of 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 overhead crane according to the relevant information of the spacer support.

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

[0120] Depend on Figure 6 The method shown is performed as a pick and place process for a specialized spacer support.

[0121] Spacers are relatively small compared to the commercial vehicle frames being unloaded. Made of metal, they are placed between the upper and lower layers of commercial vehicle frames when they are stacked for transport, separating them.

[0122] Since the spacer supports are necessary items in the process of stacking and transporting commercial vehicle frames in layers, 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 following steps: identification and measurement, position and angle adjustment, and grasping and placement.

[0124] The identification and measurement of spacer supports is also achieved through vision. First, length and height recognition cameras capture images of the spacer supports. These images are then analyzed to determine the position of the spacer support to be unloaded, along with other relevant parameters. Finally, the grasping crane is controlled to grasp the spacer support based on the identified parameters.

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

[0126] After completing the grabbing operation for the spacer support, the spacer support is placed in the designated position. After the whole vehicle frame is unloaded, the spacer support is grabbed and returned to the truck.

[0127] After confirming that all frames and spacer 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 end 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 end 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, commercial vehicle frames are divided into: short frame, medium frame and long frame. The three frames have different sizes. Therefore, during the unloading process, the control parameters of the overhead crane should be adjusted accordingly according to the type of frame.

[0133] For example, when grasping a short frame, due to the short length of the object itself, a single gripper device can be used to complete the grasping operation along the length direction of the short frame. However, for a long frame, due to the longer length of the object itself, a single gripper device along the length direction is not sufficient to grasp the long frame. If only a single gripper device is used along the length direction, the grasped long frame is likely to tilt or fall due to unbalanced forces during the grasping and placement process, and in severe cases, the long frame may be damaged during the grasping process.

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

[0135] For a short frame, its end can be detected by the second camera 103. For a medium frame, its end is beyond the detection range of the second camera 103, but not within the detection range of the third camera 104. For a long frame, due to its 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 the basic assumption that 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 vehicle frame and identifies the basic shape and features of the vehicle frame through an image processing algorithm.

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

[0140] S83: If the rear end 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 end of the vehicle frame is within the detection range of the third camera 104, it is determined to be a long vehicle frame.

[0143] Relative to Figure 7 The embodiment shown is composed of Figure 8 In the illustrated embodiment, an alignment action of the first camera 102 with respect 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 vehicle frame through the images.

[0145] The position of the head of the vehicle frame is then determined based on the acquired image and common image features of the head of the vehicle frame.

[0146] The image features of the head can be the distribution of the image boundary points on the two-dimensional image. For example, once the head of the vehicle frame appears in the image, the image boundary points may appear frequently in the horizontal direction of the image, while this situation does not occur in the image without the head.

[0147] After identifying the position of the head, 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 two parallel lines, halve the distance, and then draw a center line parallel to the two parallel lines at the midpoint of the halved line. 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] Figure 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. Figure 9 , the location acquisition operation includes the following steps:

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

[0153] S92: Determine the center line of the vehicle frame based on a line connecting the Y-axis center points of the head and tail of the vehicle 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: Determine the angle information at which the overhead crane needs to rotate according to the offset angle of the center line in the spatial coordinate system.

[0156] The Y-axis midpoint can be determined as follows: first obtain a boundary line at the rear of the vehicle frame, connect the two endpoints of this boundary line, and then find the midpoint of this line. This midpoint is the center point of the rear of the vehicle frame along the Y-axis.

[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 centerline 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's important to note that the travel 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 travel distance should be calculated as the projection of the spatial distance between the center points on the Y axis. This calculation is primarily to ensure the accuracy of the movement.

[0160] After calculating the distance in the Y-axis direction, it is necessary to further determine whether there is any angle deviation. If there is any misalignment in the angle, further angle adjustment is required.

[0161] Figure 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. Figure 10 , the location acquisition operation includes the following steps:

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

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

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

[0165] Depend on Figure 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 centerline is determined by the parallel lines on the upper and lower sides of the frame. You can first determine the distance between the upper and lower parallel lines, halve that distance, and then draw another line parallel to the upper and lower parallel lines at the halved position. This line is the centerline of the frame along the Z axis.

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

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

[0170] Figure 11 The flowchart of the automatic unloading method of a multi-layer commercial vehicle frame provided by one or more embodiments of the present invention is shown. Figure 11 The automatic unloading method of a multi-layer commercial vehicle frame includes the following steps:

[0171] S111, the 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: Determine that the frame is short and determine the X-axis moving distance of the overhead 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 the middle frame, and determining the X-axis movement distance of the overhead 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 X-axis moving distance of the overhead 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 Z-axis height information of the vehicle computer.

[0183] S123, integrating the information through an algorithm to form available x, y, z movement 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 uses the clamping claw device to grab the frame.

[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 Z-axis height information of the vehicle frame.

[0190] S130, integrating the information through an algorithm to form available x, y, z movement 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 uses the magnetic device to grab the interval support.

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

[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 device to grab the spacer support back to the truck, and the truck leaves.

[0196] Figure 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. Figure 12 , the automatic unloading system for multi-layer commercial vehicle frames includes:

[0197] The recognition and measurement module 1201 is used to recognize 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above 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 method for automatically unloading a multi-layer commercial vehicle frame, used in an unloading system, the unloading system comprising: 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; An automatic storage device is provided on the side of the target object to be unloaded, and is used to automatically store the unloaded target object; 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 grabbing 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, and is characterized in that the automatic unloading method of the multi-layer commercial vehicle frame includes: Identify and measure the target object through a 3D camera to obtain relevant information about 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 location; 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; Use 3D cameras to identify and measure target objects and obtain relevant information about the target objects, including: Identify and measure the target object using a 3D camera to obtain the type of the target object; or Identify and measure the target object through a 3D camera to obtain the position of the target object; Use a 3D camera to identify and measure the target object and obtain the type of the target object, including: If the rear end of the vehicle 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 vehicle frame; 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 frame head and uses an image processing algorithm to identify the basic shape and features of the frame; Determine the position information of the frame head according to the characteristic points of the frame head, and determine the center point of the frame head in the Y-axis direction according to the parallel lines on both sides of the head; Use a 3D camera to identify and measure the target object and obtain its position, including: Calculate the X-axis travel distance of the overhead crane based on the different frame types and the position information of the frame head; Identify and measure the target object through the 3D camera to obtain the position of the target object, including: Based on the images of the rear of the vehicle frame captured by the second camera and the third camera, the center point of the rear of the vehicle frame in the Y-axis direction is determined using the parallel lines on both sides of the rear of the vehicle frame; Determine the center line of the frame based on the line connecting the Y-axis center points 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; Determine the angle information that the overhead crane needs to rotate according to the offset angle of the center line in the spatial coordinate system; Identify and measure the target object through the 3D camera to obtain the position of the target object, including: 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 grasping based on the distance from the overhead crane to the centerline of the Z axis; The automatic unloading method of a multi-layer commercial vehicle frame includes the following steps: S111, trucks in place; S112, the overhead crane moves to the camera photo taking position; S113, four cameras take photos; S114, grab the frame; S115, the rear end of the vehicle frame is within the detection range of the second camera (103); S116, determining that the frame is short, and determining the X-axis moving distance of the overhead crane; S117, the rear end of the vehicle frame exceeds the detection range of the second camera (103) and does not reach the detection range of the third camera (104); S118, determining that it is a middle frame, and determining the X-axis movement distance of the overhead crane; S119, the rear end of the vehicle frame is within the detection range of the third camera (104); S120, determining that the frame is long and determining the X-axis moving distance of the overhead crane; S121, three cameras work together to measure the size and angle information of the frame on the Y axis; S122, the fourth camera (105) measures the height Z-axis information of the vehicle machine; S123, integrating the information through an algorithm to form available x, y, z movement distance and rotation angle information of the overhead crane; S124, all information is transmitted to the overhead crane controller through the data interface; S125, the grabbing crane starts to move and uses the gripper device to grab the frame; S126, placing the captured vehicle frame on the automatic storage device and sending it to the three-dimensional warehouse; S127, grab interval support; S128, three cameras measure the position information of the spacer support; S129, the fourth camera (105) measures the height Z-axis information of the frame; S130, integrating the information through an algorithm to form available x, y, z movement distance and rotation angle information of the overhead crane; S131, all information is transmitted to the overhead crane controller through the data interface; S132, the grabbing crane starts to move and grabs the interval support using the magnetic device; S133, placing the captured spacing support at a designated location; S134: Are all the goods on the truck unloaded? If yes, jump to S135; if not, jump to S112; S135, using the magnetic device to grab the spacer support back to the truck, and the truck leaves.

2. An automatic unloading system for a multi-layer commercial vehicle frame, used in the unloading system of the automatic unloading method for a multi-layer commercial vehicle frame as claimed in claim 1, characterized in that: The multi-layer commercial vehicle frame automatic unloading system includes: 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, configured to adjust the gripping position and angle of the gripping crane according to relevant information of the target object; and The 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 the designated location; 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.

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