Drip irrigation belt stacking equipment and drip irrigation belt stacking method

Abstract

The invention relates to the technical field of drip irrigation tape production, in particular to drip irrigation tape stacking equipment and a drip irrigation tape stacking method. The invention provides dropper belt stacking equipment. The dropper belt stacking equipment comprises a robot trolley, a lifting platform, a guide rail, a bearing table, an air cylinder, a camera and a calculation unit. The lifting platform is installed on the robot trolley, the guide rail is installed on the lifting platform and comprises a first rail body and a second rail body which are connected, the first rail body is horizontally arranged, and the end, close to the first rail body, of the second rail body is higher than the other end of the first rail body; the bearing table is installed on the guide rail in a sliding mode, the bearing table is used for placing drip irrigation belt products, and the air cylinder is installed on the lifting platform. By means of the stacking equipment, automatic carrying and stacking of drip irrigation belt products can be achieved, manual carrying and stacking are not needed, the carrying and stacking efficiency of the drip irrigation belt products is greatly improved, and the labor burden of workers is relieved.

Description

Technical Field

[0001] The invention relates to the technical field of drip irrigation tape production, and in particular to a drip irrigation tape stacking device and a drip irrigation tape stacking method. Background Art

[0002] In modern agricultural irrigation systems, drip irrigation tapes are widely used as a water-saving and efficient irrigation tool for irrigation of various crops. The development of drip irrigation is an important way to achieve water-saving, high-yield and high-efficiency agriculture, and is of great significance for ensuring the safe supply of agricultural products, driving farmers to become rich, and promoting agricultural modernization. With the expansion of agricultural production scale and technological advancement, the production efficiency of drip irrigation tapes has been significantly improved, and accordingly, the requirements for the stacking and palletizing of drip irrigation tapes have also increased.

[0003] At present, after the production of drip irrigation tape is completed, it needs to be transported to a designated location for stacking. The weight of a whole roll of drip irrigation tape is usually between 20-26 kg. Due to its relatively large weight and volume, it takes a long time for workers to carry these drip irrigation tapes to the designated location, which indirectly affects production efficiency. This is not only inefficient, but also increases labor costs. At the same time, due to the uncertainty of manual operation, it is easy to cause uneven stacking, affecting subsequent transportation and use. Reasonable and efficient stacking has become one of the main obstacles to production speed and economic cost. For example, Dayu Water Saving Company has 150 high-speed drip irrigation tape production lines, and each production line needs to match a worker to be responsible for carrying the drip irrigation tape and changing the roll. The production speed of most domestic drip irrigation tape high-speed production lines ranges from 0 to 300 meters per minute, so the actual production capacity of the production line is limited by the workers' handling speed. In contrast, the production lines of international companies such as Israel's Netafim can reach a speed of about 500 meters per minute. In this case, two workers are often required to perform manual roll changing and stacking operations. Although many experts and scholars have proposed optimization design methods for palletizing, such as the method proposed by Yan Bolin et al. of Suzhou Zhongke Quanxiang Intelligent Technology Co., Ltd. (application publication number: CN112047113A) to use a 3D structure camera to shoot objects and import them into a deep learning algorithm for training to complete palletizing, and the method introduced by Wang Yan of FAOYIWEI (Suzhou) Robotic System Co., Ltd. (application publication number: CN118701757A) to optimize the stacking of objects through algorithms, these solutions are not completely applicable to the drip irrigation tape stacking problem described in this article. Although the former uses advanced image recognition technology, it does not take into account the weight detection and negative feedback regulation required for drip irrigation tape stacking, especially for soft and irregularly shaped products such as drip irrigation tape.

[0004] In addition, drip irrigation tapes have different specifications during production. According to the current production process, drip irrigation tapes with different wall thicknesses, spacings, and flow rates need to be converted into different masses according to a specific calculation formula, and weight verification is performed accordingly. This means that any new stacking and palletizing system must be able to adapt to the requirements of different types of drip irrigation tapes and be able to take into account the mass changes of drip irrigation tapes during the stacking process.

[0005] In view of the above situation, the present invention proposes an innovative solution, that is, using SolidWorks software to establish an image recognition trolley model suitable for transporting drip irrigation tapes and performing corresponding stacking. The model provides data support for machine learning and neural networks through binocular vision recognition technology, thereby achieving efficient and accurate stacking of drip irrigation tapes under different factory terrains and operating speeds. The present invention not only solves the problems existing in the prior art, but also provides an automated stacking method that is more adapted to the characteristics of drip irrigation tapes, which helps to improve the operating speed of high-speed production lines, reduce the number of production workers, avoid labor waste, and thus promote the progress and development of the entire industry. Summary of the invention

[0006] (1) The problem to be solved by the present invention is that the production speed of the drip irrigation tape high-speed production line is seriously restricted by the workers' handling speed.

[0007] (II) Technical solution

[0008] A dropper belt stacking and palletizing device, comprising a robot trolley, a lifting platform, a guide rail, a bearing platform, a cylinder, a camera and a computing unit;

[0009] The lifting platform is installed on the robot trolley, and the guide rail is installed on the lifting platform. The guide rail includes a rail body 1 and a rail body 2 connected to each other. The rail body 1 is horizontally arranged, and one end of the rail body 2 close to the rail body 1 is higher than the other end thereof;

[0010] The bearing platform is slidably mounted on the guide rail, the bearing platform is used to place the drip irrigation tape product, and the cylinder is mounted on the lifting platform to push the bearing platform to slide along the guide rail;

[0011] The robot car is used to drive the drip irrigation tape product to walk in the stacking warehouse according to the set path. The camera is installed on the lifting platform to scan the area to be stacked to obtain the image of the area to be stacked and obtain point cloud data;

[0012] The robot car and the camera are respectively connected to the computing unit for communication, and the computing unit is used to process the image of the area to be palletized and to establish a three-dimensional model.

[0013] According to one embodiment of the present invention, a control module is included, and the control module is in communication connection with the computing unit; the lifting platform is a scissor-fork lifting platform, which includes a scissor-fork mechanism, a support platform and a hydraulic system connected to each other, and the hydraulic system is in signal connection with the control module, and the support platform includes a top surface and an inclined surface connected to each other, and the angle formed between the top surface and the inclined surface is an obtuse angle;

[0014] The first rail body is installed on the top surface, and the second rail body is installed on the inclined surface.

[0015] According to one embodiment of the present invention, at least one partition plate is installed on the table top of the carrying table, and the partition plate divides the table top of the carrying table into at least two placement areas for placing drip irrigation tape products;

[0016] At least one interception mechanism is installed in each of the placement areas, and the interception mechanism is used to intercept or release the drip irrigation tape products located in the placement area.

[0017] According to one embodiment of the present invention, the intercepting mechanism includes a baffle and a hydraulic cylinder. A hole for the baffle to pass through is provided in the placement area. The hydraulic cylinder is vertically installed below the supporting platform. The cylinder end of the hydraulic cylinder is connected to the baffle for pushing the baffle to extend from or retract into the hole. The hydraulic cylinder is connected to the control module signal.

[0018] According to one embodiment of the present invention, the supporting platform has a first side, a second side, a third side and a fourth side connected in sequence, the first side and the third side are parallel, and the intercepting mechanism is close to the third side; a protective enclosure is installed on the table top of the supporting platform, and the protective enclosure is located above the second side, the first side and the fourth side; a vertically arranged upright plate is installed on the supporting platform, and the upright plate is located on one side of the first side of the supporting platform, the camera is installed on the upright plate, one end of the cylinder is connected to the upright plate, and the other end thereof is hinged to the protective enclosure plate.

[0019] According to one embodiment of the present invention, the robot car includes a car body, two universal wheels, two driving wheels and two driving motors, the driving motors and the driving wheels correspond one to one, the two universal wheels are installed on the first side of the bottom of the car body, and the two driving wheels are installed on the second side of the bottom of the car body. The driving motors are used to drive the corresponding driving wheels to rotate according to the instructions of the control module.

[0020] According to one embodiment of the present invention, the robot car includes a plurality of ultrasonic sensors and a plurality of tracking sensors, and the ultrasonic sensors and the tracking sensors are respectively communicatively connected to the computing unit, the ultrasonic sensors are used to obtain the position of obstacles, and the tracking sensors are used to guide the robot car to travel along a set path.

[0021] According to an embodiment of the present invention, a weighing module for weighing the drip irrigation tape product is installed in each of the placement areas, and the weighing module is connected to the calculation unit and the winder signal.

[0022] According to one embodiment of the present invention, the computing unit includes a central processing unit, a graphics processing unit, a memory and an input / output interface.

[0023] A method for stacking and palletizing drip irrigation tapes, using the above-mentioned drip irrigation tape stacking and palletizing device, the stacking and palletizing method comprises the following steps:

[0024] S1: The robot moves to the palletizing area along the set path according to the instructions of the computing unit;

[0025] S2: The camera scans the area to be palletized to obtain an image of the area to be palletized, and transmits the image to the computing unit;

[0026] S3; the computing unit processes the image of the palletizing area, generates point cloud data, and establishes a three-dimensional model, and generates a palletizing program based on the established three-dimensional model;

[0027] S4; the computing unit controls the lifting platform and the cylinder to work according to the palletizing program to palletize the drip irrigation tape products on the carrying platform into the area to be palletized.

[0028] Beneficial effects of the present invention:

[0029] The invention provides a drip irrigation tape stacking and palletizing device. By using the stacking and palletizing device, automatic transportation and palletizing of drip irrigation tape products can be realized without manual transportation and palletizing, which greatly improves the transportation and palletizing efficiency of drip irrigation tape products and reduces the labor burden of workers.

[0030] The invention provides a method for stacking and palletizing drip irrigation tapes. By palletizing drip irrigation tape products according to the palletizing method, automatic palletizing can be realized with high palletizing efficiency, manual handling and palletizing are replaced, the labor burden of workers is reduced, and production efficiency is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A side view of a dropper belt stacking and palletizing device provided by an embodiment of the present invention;

[0033] Figure 2 A bottom view of a dropper belt stacking and palletizing device provided in an embodiment of the present invention;

[0034] Figure 3 A three-dimensional diagram of a dropper belt stacking and palletizing device provided in an embodiment of the present invention;

[0035] Figure 4 A structural diagram of a support platform, a cylinder, a camera and a stand provided in an embodiment of the present invention;

[0036] Figure 5 A control logic diagram provided for an embodiment of the present invention;

[0037] Figure 6 A plan view of a palletizing area provided by an embodiment of the present invention;

[0038] Figure 7 A plan view of another palletizing area provided by an embodiment of the present invention;

[0039] Figure 8 A schematic diagram of a palletizing procedure provided by an embodiment of the present invention.

[0040] Icons: 1. Robot car; 101. Driving wheel; 102. Universal wheel; 103. Driving motor; 2. Lifting platform; 201. Support platform; 202. Vertical board; 3. Guide rail; 4. Loading platform; 401. Protective fence; 5. Cylinder; 6. Camera; 7. Drip irrigation tape product; 8. Ultrasonic sensor; 9. First tracking sensor; 10. Second tracking sensor; 11. Third tracking sensor; 12. Baffle; 13. Central processing unit; 14. Control module; 15. Graphics processor; 16. Hydraulic cylinder; 17. Weighing sensor; 18. Palletizing area; 19. First black mark line; 20. First white mark line; 23. Third black mark line; 24. Third white mark line; 25. Loading area. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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.

[0042] Embodiment 1

[0043] like Figure 1-Figure 5 As shown, embodiment 1 of the present invention provides a drip tape stacking and palletizing device, including a robot trolley 1, a lifting platform 2, a guide rail 3, a bearing platform 4, a cylinder 5, a camera 6 and a computing unit; the lifting platform 2 is installed on the robot trolley 1, the guide rail 3 is installed on the lifting platform 2, the guide rail 3 includes a connected rail body 1 and a rail body 2, the rail body 1 is horizontally arranged, and the end of the rail body 2 close to the rail body 1 is higher than the other end; the bearing platform 4 is slidably installed on the guide rail 3, the bearing platform 4 is used to place the drip tape product 7, the cylinder 5 is installed on the lifting platform 2, and is used to push the bearing platform 4 to slide along the guide rail 3; the robot trolley 1 is used to drive the drip tape product 7 to walk in the palletizing warehouse according to the set path, the camera 6 is installed on the lifting platform 2, and is used to scan the area to be palletized to obtain the image of the area to be palletized and obtain point cloud data; the robot trolley 1 and the camera 6 are respectively communicated with the computing unit, and the computing unit is used to process the image of the area to be palletized and establish a three-dimensional model.

[0044] It should be noted that in the past, when most drip irrigation tape high-speed production lines were producing drip irrigation tape products 7, workers needed to stand at the end of the production line and then move the drip irrigation tape products 7 at the end of the production line to the stacking area for stacking. Since manual roll replacement was often required, workers could not continue to carry out the transportation, which restricted the production speed of the drip irrigation tape high-speed production line.

[0045] In this embodiment, the worker places the drip irrigation tape product 7 at the end of the production line directly on the bearing platform 4 on the top of the robot car 1. The robot car 1 moves to the area to be stacked according to the set path according to the instruction of the computing unit. Then the camera 6 scans the area to be stacked to obtain the image of the area to be stacked and the point cloud data, and transmits the image and the point cloud data to the computing unit; the computing unit processes the image of the area to be stacked and establishes a three-dimensional model according to the point cloud data, and then generates a stacking program according to the established three-dimensional model; the computing unit selectively controls the lifting platform 2 to work according to the stacking program to adjust the height of the drip irrigation tape product 7, and finally controls the extension of the cylinder 5, and the cylinder 5 extends to push the bearing platform 4 to move along the length direction of the guide rail 3. When the bearing platform 4 slides onto the second rail body, the bearing platform 4 switches from a horizontal state to an inclined state, so that the drip irrigation tape product 7 on the bearing platform 4 slides along the bearing platform 4 to the area to be stacked. Finally, the cylinder 5 shortens to pull the bearing platform 4 to move to the rail body 1, the lifting platform 2 is reset, and the robot car 1 returns according to the set path according to the instruction of the computing unit.

[0046] In this way, the drip irrigation tape product 7 can be automatically transported and stacked without manual transport and stacking, which greatly improves the transport and stacking efficiency of the drip irrigation tape product 7 and reduces the labor burden of workers.

[0047] The lifting platform 2 can be any one of a crank-type lifting platform, a scissor-type lifting platform, and a chain-type lifting platform, as long as it can change the height of the carrier 4. In this embodiment, the lifting platform 2 adopts a scissor-type lifting platform, which includes a connected scissor mechanism, a support platform 201, and a hydraulic system, wherein the bottom end of the scissor mechanism is installed on the robot vehicle 1, and the support platform 201 is connected to the top of the scissor mechanism. Figure 4 As shown, the top surface and the inclined surface are connected, and the angle formed between the top surface and the inclined surface is an obtuse angle. Two guide rails 3 are provided, and the two guide rails 3 are installed on the supporting platform 201, and the rail body 1 of the guide rail 3 is installed on the top surface, and the rail body 2 of the guide rail 3 is installed on the inclined surface.

[0048] Further, such as Figure 1 As shown, a vertical plate 202 is vertically installed on the support platform 201, one end of the cylinder 5 is fixedly connected to the vertical plate 202, and the other end is hinged to the bearing platform 4, so that when the cylinder 5 is extended, it can push the bearing platform 4 to slide from the rail body 1 to the rail body 2, and the bearing platform 4 gradually tilts from the horizontal state, so that the drip irrigation tape product 7 on the bearing platform 4 slides off the bearing platform 4. When the cylinder 5 is shortened, the bearing platform 4 gradually slides from the rail body 2 to the rail body 1, and the bearing platform 4 switches from the inclined state to the horizontal state. The camera 6 is installed on the top of the vertical plate 202, and the camera 6 is higher than the bearing platform 4.

[0049] It should be noted that the scissor-type lifting platform is a prior art, so how it drives the supporting platform 4 to rise and fall will not be described again.

[0050] In this embodiment, a control module 14 is installed on the robot car 1. The control module 14 is a PLC controller. The hydraulic system and the cylinder 5 in the above-mentioned scissor lift platform are respectively connected to the PLC controller signal. The PLC controller controls the operation of the scissor lift platform and the cylinder 5.

[0051] In this embodiment, if Figure 3 As shown, the support platform 4 includes a bottom plate, a protective enclosure 401 and two partition plates, wherein the bottom plate is in the shape of a runway, and includes a first side, a second side, a third side and a fourth side connected to each other, the first side and the third side are parallel, the second side and the fourth side are arc-shaped sides, and the length direction of the first side is the length direction of the bottom plate. The protective enclosure 401 is fixedly installed on the top surface of the bottom plate, and the protective enclosure 401 is located above the second side, the first side and the fourth side of the bottom plate, the first end of the protective enclosure 401 is located on the second side of the bottom plate, and the second end of the protective enclosure 401 is located on the fourth side of the bottom plate.

[0052] Furthermore, two partition plates are fixedly mounted on the top surface of the bottom plate, and the two partition plates are arranged along the width direction of the bottom plate. The two partition plates divide the top surface of the bottom plate into three placement areas for placing the drip irrigation tape products 7.

[0053] In this embodiment, an interception mechanism is installed at the front side of each placement area, and the interception mechanism is close to the third side of the bottom plate. The above-mentioned cylinder 5 is hinged with the protective enclosure 401. The interception mechanism includes a baffle 12 and a hydraulic cylinder 16, wherein the baffle 12 is an arc-shaped plate, and a hole body for the baffle 12 to pass through is opened in the placement area. The hydraulic cylinder 16 is vertically installed below the support platform 4, and the cylinder end of the hydraulic cylinder 16 is connected to the baffle 12, which is used to push the baffle 12 to extend from the hole body or retract into the hole body. The hydraulic cylinder 16 is connected to the control module 14 signal.

[0054] In this way, the interception mechanism, the protective enclosure 401 and the partition plate are used to limit the drip irrigation tape product 7 to prevent it from shifting.

[0055] Optionally, the interception mechanism includes an electromagnet and a baffle 12, and the baffle 12 is installed at the end of the armature of the electromagnet. When the electromagnet is energized, the iron core and the armature are magnetized to become two magnets with opposite polarities, and electromagnetic attraction is generated between them. When the attraction is greater than the reaction force of the spring, the armature begins to move toward the iron core to drive the baffle 12 to move upward so that the baffle 12 extends out of the hole on the bottom plate. When the current in the coil decreases or the power supply is interrupted, the electromagnetic attraction is less than the reaction force of the spring, and the armature will return to its original position under the action of the reaction force to drive the baffle 12 to retract into the hole.

[0056] In this embodiment, the robot car 1 includes a car body, two universal wheels 102, two driving wheels 101 and two driving motors 103, and the driving motors 103 correspond to the driving wheels 101 one by one. Figure 1 As shown, two universal wheels 102 are installed on the left side of the bottom of the trolley body, two driving wheels 101 are installed on the right side of the bottom of the trolley body, and a driving motor 103 is installed at the bottom of the trolley body and the output end of the driving motor 103 is connected to the corresponding driving wheel 101, so as to drive the corresponding driving wheel 101 to rotate around its own axis.

[0057] In this embodiment, the rotation speed difference of the driving motors 103 is changed respectively through the PLC controller, thereby changing the rotation speed difference of the two driving wheels 101 to achieve the steering function of the robot car 1.

[0058] Figure 2 It is a side view of the dropper belt stacking and palletizing equipment. A first tracking sensor 9, at least one second tracking sensor 10 and a third tracking sensor 11 are installed in sequence at the bottom of the trolley body. From one side of the trolley body to the other side, the first tracking sensor 9, the second tracking sensor 10 and the third tracking sensor 11 are arranged in sequence.

[0059] It should be noted that the tracking sensor is used to guide the equipment to travel along the set path to ensure that it does not deviate from the predetermined route. Specifically, the tracking sensor is used to identify the markings on the bottom surface of the factory area to guide the equipment to travel along the set path.

[0060] Tracking sensors usually consist of a transmitter and a receiver. The transmitter emits infrared light or other light sources. When the light hits the path mark, it is reflected or absorbed. The receiver detects the intensity of the reflected light and converts the detected light signal into an electrical signal, which is then output to the computing unit. The computing unit adjusts the direction and speed of the device based on these signals.

[0061] Exemplarily, the path marker is a black line, and the ground on both sides of the path marker is usually gray. Since black absorbs light, the intensity of light reflected by the tracking sensor when it shines on the path marker is less than the intensity of light reflected by the tracking sensor from the ground on both sides of the path marker.

[0062] When the light intensity detected by the second tracking sensor 10 is always less than the light intensity detected by the first tracking sensor 9 and the third tracking sensor 11, and the light intensity detected by the first tracking sensor 9 and the third tracking sensor 11 are the same, it means that the current dropper belt stacking and palletizing equipment is traveling along the path mark and the driving direction does not deviate. Among them, the distance between the first tracking sensor 9 and the third tracking sensor 11 is greater than the width of the path mark.

[0063] If the light intensity detected by the second tracking sensor 10 is greater than the light intensity detected by the first tracking sensor 9, or greater than the light intensity detected by the third tracking sensor 11, it means that the current dropper belt stacking and stacking equipment has deviated from the path mark. Then the calculation unit controls the two drive motors 103 according to the deviation direction to adjust the steering of the two drive wheels 101 until the light intensity detected by the second tracking sensor 10 is less than the light intensity detected by the first tracking sensor 9 and the third tracking sensor 11, so as to correct the dropper belt stacking and stacking equipment to the correct path.

[0064] In this embodiment, in order to prevent the robot car from hitting obstacles, such as Figure 1 and Figure 2 As shown, two ultrasonic sensors 8 are installed on the left and right sides of the trolley body, and at least one ultrasonic sensor 8 is also installed on the front and back of the trolley body.

[0065] For example, a rectangular area on the factory floor is planned as follows: Figure 6 In the state shown, a first black mark line 19 is drawn in the middle position of the palletizing area and along its length direction, and multiple palletizing areas 18 are formed on both sides of the first black mark line 19, and then a small first white mark line 20 is drawn at a fixed interval on the first black mark line 19. Further, a second black mark line 21 is drawn in each palletizing area 18, and then multiple second white mark lines 22 are drawn on the second black mark line 21 at a fixed distance.

[0066] In this way, when the device moves along the first black mark line 19, the light intensity detected by the second tracking sensor 10 is continuously less than the light intensity detected by the first tracking sensor 9 and the third tracking sensor 11, and the light intensity detected by the first tracking sensor 9 and the third tracking sensor 11 are the same. When the device moves to the first white mark line 20, the light intensity reflected by the second tracking sensor 10 on the first white mark line 20 is greater than the light intensity reflected by the first tracking sensor 9 and the third tracking sensor 11 on the ground on both sides of the first white mark line 20 (the ground is gray), and the light intensity detected by the first tracking sensor 9 and the third tracking sensor 11 are the same. At this time, the control module 14 controls the two drive motors 103 to run at different speeds, so that the robot car 1 rotates 90° clockwise or counterclockwise, so that the device faces the stacking area 18. At the same time, the camera 6 scans the palletizing area 18 to obtain an image of the palletizing area 18 and point cloud data, and transmits the image and point cloud data to the computing unit, which processes the image of the palletizing area 18 and establishes a three-dimensional model according to the point cloud data, and generates a palletizing program according to the established three-dimensional model.

[0067] Then the ultrasonic sensor 8 on the front of the mobile robot 1 emits ultrasonic waves toward the palletizing area 18, and the specific situation in the palletizing area 18 is determined according to the time required for the ultrasonic waves to be reflected back. According to the detection of the ultrasonic sensor 8, the robot 1 moves along the second black mark line 21 to the designated second white mark line 22 and stops. This position is the current palletizing position. Finally, the computing unit controls the device to palletize in the palletizing area 18 according to the palletizing program.

[0068] It can be seen that this equipment can travel according to the path markings on the ground and can turn at the designated position, realizing automation and intelligence.

[0069] It should be noted that when the device turns toward the palletizing area 18 at the first white mark line 20, the ultrasonic sensor 8 on the front of the mobile robot trolley 1 emits ultrasonic waves toward the palletizing area 18, and the specific situation in the palletizing area 18 is determined based on the time required for the ultrasonic waves to reflect back. If the palletizing area 18 is empty, the robot trolley 1 moves to the deepest second white mark line 22 in the palletizing area 18, stops, and performs palletizing. In other cases, the distance between the drip irrigation tape products 7 stacked in the palletizing area 18 and the device determines the specific second white mark line 22 to which the robot trolley 1 moves and stops.

[0070] For example, Figure 8 As shown, there is a driving passage for the equipment and workers to walk in the factory area, a third black mark line 23 is drawn on the ground in the driving passage, and a third white mark line 24 is drawn on the third black mark line 23 at fixed intervals, and a plurality of first black mark lines 19 are drawn on the ground on the left and right sides of the driving passage, respectively, and the plurality of first black mark lines 19 are arranged along the length direction of the third black mark line 23, and each first black mark line 19 is covered with a first white mark line 20 at a fixed distance, and the first black mark line 19 and the third white mark line 24 on the left side of the driving passage and the first black mark line 19 on the right side of the driving passage correspond one to one and are located on the same straight line.

[0071] In this way, when stacking, the device first moves along the third black mark line 23 in the driving channel. When it moves to the designated third white mark line 24, the device turns, and then the device moves along the first black mark line 19 to the designated first white mark line 20, so that the device can be moved to the designated stacking area 18.

[0072] It should be noted that the above two examples only represent one of the many moving paths of this equipment, and the specific movement path needs to be determined based on the palletizing area planning of the factory and the planning of the path marking.

[0073] The camera 6 in this embodiment is a binocular camera, and the above-mentioned computing unit includes a central processing unit 13, a graphics processing unit 15, a memory, and an input / output interface. The function of the binocular camera is to collect images of objects or scenes. In combination with photogrammetry technology, the position of each pixel in three-dimensional space can be calculated from the captured images, thereby generating point cloud data. Of course, three-dimensional scanning equipment such as laser scanners, structured light scanners, etc. can also be used to directly obtain point cloud data.

[0074] The graphics processing unit 15 (GPU) performs denoising on the collected image to eliminate image noise caused by factors such as uneven illumination and noise. The GPU extracts key features such as edges and corners from the denoised image. Feature extraction is helpful for subsequent point cloud data registration and model reconstruction. Common feature extraction algorithms include SIFT (Scale Invariant Feature Transform) and ORB (Oriented FAST and Rotated BRIEF).

[0075] The functions of the central processing unit 13 (CPU) are as follows: Data preprocessing: responsible for performing preprocessing operations such as denoising and filtering on the generated point cloud data to ensure data quality. Data registration and surface reconstruction: executing the registration algorithm, calculating the rotation and translation parameters between the point clouds, and aligning the point cloud data from different perspectives. Then, using the surface reconstruction algorithm, the point cloud data is converted into a three-dimensional model. Model optimization: optimizing the generated three-dimensional model, such as smoothing, detail enhancement, etc.

[0076] In addition, it should be clear that the binocular camera simulates the stereoscopic vision mechanism of human eyes. It consists of two cameras that shoot the same scene from slightly different angles. Compared with the monocular camera, the binocular camera can directly obtain the depth information of the scene and provide more accurate three-dimensional space perception.

[0077] In this way, when the device moves to the palletizing area 18, the binocular camera 6 collects images in the palletizing area 18, and calculates the position of each pixel in the three-dimensional space from the captured image by combining the photogrammetry technology, thereby generating point cloud data; the graphics processor 15 performs denoising on the collected image to eliminate image noise caused by factors such as uneven illumination and noise, and extracts key features such as edges and corners from the denoised image. Then, the central processor 13 performs pre-processing operations such as denoising and filtering on the generated point cloud data, executes the registration algorithm, calculates the rotation and translation parameters between the point clouds, aligns the point cloud data of different perspectives, and then uses the surface reconstruction algorithm to convert the point cloud data into a three-dimensional model, and then optimizes the generated three-dimensional model. In this way, a real-time three-dimensional model in the palletizing area 18 can be obtained. Then the central processor 13 analyzes the three-dimensional model, determines the palletizing situation of the drip irrigation tape product 7 in the palletizing area 18, and obtains the palletizing program through analysis, and then the device performs palletizing according to the palletizing program.

[0078] Specifically, the central processor 13 analyzes the three-dimensional model to obtain a variety of palletizing programs. For ease of understanding, several specific examples are given below for illustration. Assuming that there is no drip irrigation tape product 7 in the palletizing area 18, the central processor 13 sends an instruction to the control module 14 to control the extension of the cylinder 5, and the cylinder 5 extends to push the carrier 4 to move along the length direction of the guide rail 3. When the carrier 4 slides onto the second rail body, the carrier 4 switches from a horizontal state to an inclined state, and then simultaneously controls the hydraulic cylinders 16 in the three intercepting mechanisms to shorten, so that the three baffles 12 retract, so that the three drip irrigation tape products 7 on the carrier 4 slide along the carrier 4 to the ground of the palletizing area 18 at the same time.

[0079] Assume that Figure 8 As shown, in the initial state, the same row position in the stacking area 18 has two drip irrigation tape products 7 stacked, one drip irrigation tape product 7, and two drip irrigation tape products 7 stacked. Figure 8 In the initial state, the two drip irrigation tape products 7 on the left, the drip irrigation tape product 7 in the middle, and the two drip irrigation tape products 7 on the right are respectively named as two first drip irrigation tape products, one second drip irrigation tape product, and two stacked third drip irrigation tape products.

[0080] When the equipment moves to the designated position of the stacking area 18, the central processor 13 sends a command to the control module 14 to control the lifting platform 2 to rise to a fixed height so that the lower end of the second track body of the guide rail 3 is at the same height as a second drip irrigation tape product on the ground. Then the cylinder 5 is controlled to extend, and the cylinder 5 extends to push the carrier 4 to move along the length direction of the guide rail 3. When the carrier 4 slides onto the second track body, the carrier 4 switches from a horizontal state to an inclined state, and then the hydraulic cylinder 16 in the interception mechanism located in the middle position is controlled to shorten, and the drip irrigation tape product 7 located in the middle position slides to Figure 8 The second drip irrigation tape product in the initial state is at this time. Figure 8 In the first state, the two stacked first drip irrigation tape products, the two stacked second drip irrigation tape products, and the two stacked third drip irrigation tape products are of the same height.

[0081] Then the lifting platform 2 is controlled to rise to a fixed height again, so that the lower end of the second rail body of the guide rail 3 is at the same height as the topmost drip irrigation tape product 7 in the first state, and then the two interception mechanisms on both sides of the carrier 4 are controlled to be released, so that the remaining two drip irrigation tape products 7 are stacked on the top of the first drip irrigation tape product on the left and the top of the third drip irrigation tape product on the right in the first state. Finally, the state is achieved as follows Figure 8 The second state in .

[0082] The above is only one of many palletizing procedures. Since there are many palletizing procedures, they are not listed here one by one to avoid redundancy.

[0083] It should be noted that if the ultrasonic sensor 8 on the robot car 1 detects an obstacle while the equipment is moving forward, the robot car 1 will stop to prevent danger, and the ultrasonic sensor 8 can be assisted by a binocular camera to judge the situation in the stacking area 18, so as to efficiently stack the drip irrigation tape.

[0084] In this embodiment, a power source is installed inside the robot car 1, and the power source is a battery, which is used to supply power to the above-mentioned electrical components.

[0085] It should be clear that, when producing the same batch of drip irrigation tape products 7, the quality of the whole roll is often uneven, that is, some of the produced drip irrigation tape products 7 are heavy and some are light. In order to solve this technical problem, a weighing mechanism is installed in each of the three placement areas on the top of the carrier 4, and the weighing mechanism can be any one of an electronic scale and a weighing sensor 17.

[0086] If it is detected that the weight of a single roll of drip irrigation tape product 7 is less than the specified weight, the wireless transmission module transmits the weight information of the roll of drip irrigation tape product to the production line main console, and the production line main console controls the winder to increase the number of winding turns the next time the drip irrigation tape is wound; similarly, if it is detected that the weight of a single roll of drip irrigation tape product 7 is greater than the specified weight, the production line main console controls the winder to reduce the number of winding turns the next time the drip irrigation tape is wound.

[0087] Specifically, the worker places the drip irrigation tape product 7 on the electronic scale on the supporting platform 4 for weighing, and the central processing unit 13 calculates the difference between the measured weight and the qualified weight, obtains the data of the number of working turns required for the winder to make up for the difference according to the weight difference, and sends the data of the number of working turns required for the winder to make up for the difference to the central control console through the wireless transmission module. The central control console sends an instruction to the winder, and the winder performs the compensation correction according to the instruction.

[0088] Embodiment 2:

[0089] This embodiment 2 provides a method for stacking and palletizing drip irrigation tapes, using the above-mentioned drip irrigation tape stacking and palletizing equipment. Figure 6 The planned palletizing area is described in detail, which specifically includes the following steps:

[0090] Step 1: manually placing three drip irrigation tape products 7 on the supporting platform 4 of the device in sequence in the loading area 25 .

[0091] Step 2: The control module 14 controls the two driving motors 103 to run synchronously at a fixed speed so that the device moves forward at a constant speed along the first black mark line 19. At this time, the light intensity detected by the second tracking sensor 10 is continuously lower than the light intensity detected by the first tracking sensor 9 and the third tracking sensor 11, and the light intensity detected by the first tracking sensor 9 and the third tracking sensor 11 are the same.

[0092] Step 3: When the device moves to the designated first white mark line 20, the intensity of the light reflected by the second tracking sensor 10 on the first white mark line 20 is greater than the intensity of the light reflected by the first tracking sensor 9 and the third tracking sensor 11 on the ground on both sides of the first white mark line 20, and the light intensities detected by the first tracking sensor 9 and the third tracking sensor 11 are the same. At this time, the control module 14 controls the two driving motors 103 to run at different speeds respectively, so that the robot car 1 rotates 90° clockwise or counterclockwise, so that the device faces the stacking area 18. At the same time, the camera 6 scans the stacking area 18 to obtain an image of the stacking area 18, and calculates the position of each pixel in the three-dimensional space from the captured image in combination with photogrammetry technology, thereby generating point cloud data. The graphics processor 15 performs denoising on the collected image to eliminate image noise caused by factors such as uneven lighting and noise, and extracts key features such as edges and corners from the denoised image. The central processor 13 performs pre-processing operations such as denoising and filtering on the generated point cloud data, executes the registration algorithm, calculates the rotation and translation parameters between the point clouds, aligns the point cloud data of different perspectives, and then uses the surface reconstruction algorithm to convert the point cloud data into a three-dimensional model, and then optimizes the generated three-dimensional model to obtain a real-time three-dimensional model in the stacking area 18. Then the central processor 13 analyzes the three-dimensional model, determines the stacking situation of the drip irrigation tape products 7 in the stacking area 18, and obtains the stacking program through analysis.

[0093] Step 4: Then the ultrasonic sensor 8 on the front of the mobile robot trolley 1 emits ultrasonic waves toward the palletizing area 18, and the specific situation in the palletizing area 18 is judged according to the time required for the ultrasonic waves to reflect back. According to the detection of the ultrasonic sensor 8, the robot trolley 1 moves along the direction of the second black mark line 21 to the designated second white mark line 22 and stops.

[0094] Step 5: According to the stacking program, the lifting platform 2 is selectively controlled to adjust the height of the drip irrigation tape product 7, and the cylinder 5 is controlled to extend. The cylinder 5 extends to push the supporting platform 4 to move along the length direction of the guide rail 3. When the supporting platform 4 slides onto the rail body 2, the supporting platform 4 switches from a horizontal state to an inclined state. Finally, according to the stacking program, the hydraulic cylinder 16 in one or more intercepting mechanisms is selectively controlled to be shortened to stack one or more drip irrigation tape products 7 on the supporting platform 4 to the specified position.

[0095] Step 6: The cylinder 5 is shortened to pull the carrier 4 onto the rail body 1, and the lifting platform 2 is reset. Finally, the equipment returns to the loading area 25 with the help of the tracking sensor and the ultrasonic sensor 8 to prepare for the next palletizing.

[0096] It should be noted that since there are many types of planning for the palletizing area and the planning of the path marking, it is impossible to describe all the moving paths of this equipment.

[0097] It can be seen that stacking the drip irrigation tape product 7 according to the present stacking method can realize automatic stacking with high stacking efficiency, replace manual handling and stacking, reduce the labor burden of workers, and ensure production efficiency.

[0098] In the description of the present invention, it should be noted that the terms "upper", "lower", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0099] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the inside of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A dropper belt stacking and palletizing device, characterized in that: It comprises a robot car (1), a lifting platform (2), a guide rail (3), a bearing platform (4), a cylinder (5), a camera (6) and a computing unit; The lifting platform (2) is installed on the robot vehicle (1), and the guide rail (3) is installed on the lifting platform (2). The guide rail (3) comprises a rail body 1 and a rail body 2 connected to each other. The rail body 1 is arranged horizontally, and one end of the rail body 2 close to the rail body 1 is higher than the other end thereof. The bearing platform (4) is slidably mounted on the guide rail (3), the bearing platform (4) is used to place the drip irrigation tape product (7), and the cylinder (5) is mounted on the lifting platform (2) and is used to push the bearing platform (4) to slide along the guide rail (3); The robot car (1) is used to drive the drip irrigation tape product (7) to move along a set path in the palletizing warehouse, and the camera (6) is installed on the lifting platform (2) and is used to scan the area to be palletized to obtain an image of the area to be palletized and to obtain point cloud data; The robot car (1) and the camera (6) are respectively connected to the computing unit for communication, and the computing unit is used to process the image of the area to be stacked and to establish a three-dimensional model.

2. The dropper belt stacking and palletizing device according to claim 1, characterized in that: The invention comprises a control module (14), wherein the control module (14) is in communication connection with the computing unit; the lifting platform (2) is a scissor-fork lifting platform, which comprises a scissor-fork mechanism, a support platform (201) and a hydraulic system connected to each other, wherein the hydraulic system is in signal connection with the control module (14); the support platform (201) comprises a top surface and an inclined surface connected to each other, and the angle formed between the top surface and the inclined surface is an obtuse angle; The first rail body is installed on the top surface, and the second rail body is installed on the inclined surface.

3. The dropper belt stacking and palletizing device according to claim 2 is characterized in that: At least one partition plate is installed on the surface of the carrying platform (4), and the partition plate divides the surface of the carrying platform (4) into at least two placement areas for placing drip irrigation tape products (7); At least one interception mechanism is installed in each placement area, and the interception mechanism is used to intercept or release the drip irrigation tape product (7) located in the placement area.

4. The dropper belt stacking and palletizing device according to claim 3 is characterized in that: The interception mechanism comprises a baffle (12) and a hydraulic cylinder (16); a hole for the baffle (12) to pass through is provided in the placement area; the hydraulic cylinder (16) is vertically installed below the support platform (4); a cylinder end of the hydraulic cylinder (16) is connected to the baffle (12) for pushing the baffle (12) to extend from or retract into the hole; and the hydraulic cylinder (16) is signal-connected to the control module (14).

5. The dropper belt stacking and palletizing device according to claim 4, characterized in that: The supporting platform (4) has a first side, a second side, a third side and a fourth side connected in sequence, the first side and the third side are parallel, and the interception mechanism is close to the third side; a protective panel (401) is installed on the surface of the supporting platform (4), and the protective panel (401) is located above the second side, the first side and the fourth side; a vertically arranged stand (202) is installed on the supporting platform (201), and the stand (202) is located on one side of the first side of the supporting platform (4); the camera (6) is installed on the stand (202); one end of the cylinder (5) is connected to the stand (202), and the other end thereof is hinged to the protective panel (401).

6. The dropper belt stacking and palletizing device according to claim 2, characterized in that: The robot car (1) comprises a car body, two universal wheels (102), two driving wheels (101) and two driving motors (103), wherein the driving motors (103) correspond to the driving wheels (101) in a one-to-one manner, the two universal wheels (102) are mounted on a first side of the bottom of the car body, and the two driving wheels (101) are mounted on a second side of the bottom of the car body, and the driving motors (103) are used to drive the corresponding driving wheels (101) to rotate according to instructions of the control module (14).

7. The dropper belt stacking and palletizing device according to claim 6, characterized in that: The robot car (1) comprises a plurality of ultrasonic sensors (8) and a plurality of tracking sensors, wherein the ultrasonic sensors (8) and the tracking sensors are respectively connected to the computing unit for communication, the ultrasonic sensors (8) are used to obtain the position of obstacles, and the tracking sensors are used to guide the robot car (1) to travel along a set path.

8. The dropper belt stacking and palletizing device according to claim 3, characterized in that: A weighing module for weighing the drip irrigation tape product (7) is installed in each of the placement areas, and the weighing module is connected to the calculation unit and the winding machine signal.

9. The dropper belt stacking and palletizing device according to claim 1, characterized in that: The computing unit comprises a central processing unit (13), a graphics processing unit (15), a memory and an input / output interface.

10. A method for stacking and palletizing drip irrigation tapes, characterized in that: A dropper belt stacking and palletizing device as described in any one of claims 1 to 9 is used, and the stacking and palletizing method comprises the following steps: S1: The robot car (1) moves to the palletizing area along the set path according to the instructions of the computing unit; S2: The camera scans the area to be stacked to obtain an image of the area to be stacked, and transmits the image to the computing unit; S3; the computing unit processes the image of the palletizing area, generates point cloud data, and establishes a three-dimensional model, and generates a palletizing program based on the established three-dimensional model; S4; the computing unit controls the lifting platform (2) and the cylinder (5) to work according to the palletizing program so as to palletize the drip irrigation tape product (7) on the carrier platform (4) into the area to be palletized.

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