Automatic loading system based on visual positioning and measurement

Abstract

The invention relates to the technical field of loading systems, in particular to an automatic loading system based on visual positioning and measurement, which comprises a loading frame, a linear module, an electric telescopic rod and a feeding multi-axis manipulator, the two sides of the linear module are installed in sliding grooves in the loading frame through installation sliding blocks. According to the invention, each function is realized through modular design, and the modular design comprises a vehicle information acquisition module, a carriage positioning and size measurement module, a cargo position detection and coordinate calculation module and a loading stacking execution module, so that the loading efficiency and the automation degree of the automatic loading system are improved; the overall framework of the system is expanded on the premise of the information acquisition module of the vehicle and by taking the carriage positioning and size measuring module as a main line, finally, the loading and stacking execution module simulates stacking and loading, meanwhile, experimental analysis is conducted on the precision of a carriage positioning experiment and the precision of a stacking and loading experiment, and the stability and accuracy of the system are verified.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle loading systems, and in particular to an automatic vehicle loading system based on visual positioning and measurement. Background Art

[0002] In recent years, with the development of automatic loading systems, the production process of enterprises has been greatly developed and has become an important part of modern industrial automation. The loading and unloading of goods tends to be automated and procedural. For a large number of repetitive tasks, the demand for automation is increasing, and the personnel involved in such work are becoming increasingly scarce; improving the efficiency of loading and unloading operations is of great significance to accelerating the realization of industrial production automation.

[0003] The automatic loading system is a type of automated logistics equipment developed in recent years. It is mainly used in scenarios such as centralized stacking of goods, automatic loading and unloading, and scheduling management, with the purpose of improving logistics operation efficiency, reducing costs, and ensuring logistics safety.

[0004] With the rise of China's manufacturing industry, the derived technologies such as artificial intelligence and machine vision provide technical support for the realization of automatic loading systems. The application of automation equipment, sensors, control systems and other technologies has also greatly promoted the development of automatic loading systems.

[0005] In addition, with the rise of economic globalization and e-commerce, cargo operation efficiency and cost control have become the key to competition among logistics companies. Traditional manual loading and unloading and management methods cannot meet the needs of modern cargo loading and unloading operations, so the development of automated loading systems has become an inevitable trend. However, the current automated loading system requires the introduction of advanced automation equipment, sensors, control systems and other technologies, which has the problem of higher equipment costs than traditional manual loading and unloading systems, and relies on artificial intelligence, machine vision and other technologies to achieve automated operations, which has the disadvantage of high technical requirements for operators.

[0006] In addition, the existing loading systems are generally implemented by industrial robots, and the stacking points of the industrial robots are pre-taught according to the length, width, height and body posture of the truck compartment. This requires the driver to be able to adjust the truck body and park it at a specified position with a specified posture before starting loading. Once the parking position of the truck or the body posture is inconsistent with the posture during teaching, the automatic loading system cannot complete the automatic loading. In many cases, the loading site is extremely narrow, and the driver is sometimes unable to adjust the position or posture of the truck to the specified posture. This also limits the existing loading system from being able to determine the location information of the truck, and the loading efficiency cannot be improved.

[0007] In summary, it is necessary to propose an automatic loading system based on visual positioning and measurement to solve the above problems. Summary of the invention

[0008] The purpose of the present invention is to provide an automatic loading system based on visual positioning and measurement to solve the problems raised in the above background technology.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] The present invention proposes an automatic loading system based on visual positioning and measurement, comprising a loading frame, a linear module, an electric telescopic rod and a feeding multi-axis manipulator, wherein a linear module is installed on one side of the loading frame, and both sides of the linear module are installed in a slide groove on the loading frame through an installation slider, and a mounting connecting plate is also installed on the slide groove at a mounting slider on one side, an extension conveyor belt is fixedly installed at the bottom of the installation connecting plate, a roller is installed on the extension conveyor belt, and an electric telescopic rod is installed on the linear module at the top of the extension conveyor belt, a loading suction cup is provided at the bottom of the electric telescopic rod, and a connection between the output end of the electric telescopic rod and the loading suction cup is provided. It is installed through a connecting rod, an extended guide conveyor belt is installed on the side of the extended conveyor belt away from the loading suction cup, a long conveyor belt is provided at the bottom of the extended conveyor belt, a secondary guide conveyor belt is provided at one end of the long conveyor belt away from the extended conveyor belt, a steering conveyor belt is provided on the side of the secondary guide conveyor belt away from the long conveyor belt, a primary guide conveyor belt support frame is provided on the side of the steering conveyor belt away from the secondary guide conveyor belt, a short conveyor belt is provided on the side of the primary guide conveyor belt support frame away from the steering conveyor belt, a multi-axis feeding manipulator base is sleeved on the outer side of the short conveyor belt, and a multi-axis feeding manipulator is installed on the top of the multi-axis feeding manipulator base.

[0011] Preferably, the bottom of the loading frame is supported and fixed by loading frame support rods.

[0012] Preferably, the bottom of the long conveyor belt is supported and fixed by a long conveyor belt support frame.

[0013] Preferably, the bottom of the secondary guide conveyor belt is supported and fixed by a secondary guide conveyor belt support frame.

[0014] Preferably, the bottom of the steering conveyor belt is supported and fixed by a steering conveyor belt support frame.

[0015] Preferably, the bottom of the primary guide conveyor belt support frame is supported and fixed by the primary guide conveyor belt.

[0016] Based on the above equipment, the present invention also proposes an automatic loading system based on visual positioning and measurement, including a vehicle information collection module, a compartment size positioning and measurement module, a cargo position coordinate detection module, a loading and stacking execution module, and a visualization control module;

[0017] The vehicle information collection module is used to automatically identify and record the vehicle information entering the loading area, including vehicle model, compartment size, and load limit;

[0018] The carriage size positioning and measurement module is used to locate the carriage and accurately measure the carriage size through a triangulation algorithm of dual reference points;

[0019] The cargo position coordinate detection module is used to detect the position of the cargo and calculate the cargo position coordinates;

[0020] The loading and stacking execution module is used to control the loading multi-axis manipulator to perform precise cargo grabbing, handling and stacking operations according to the information provided by the cargo position detection and coordinate calculation module. The loading and stacking execution module is installed on the outside of the short conveyor belt in the cargo processing area of ​​the loading multi-axis manipulator or on the base of the loading multi-axis manipulator to facilitate the grabbing, handling and stacking operations of the cargo. According to the information provided by the cargo position detection and coordinate calculation module, the loading multi-axis manipulator is controlled to perform precise cargo grabbing, handling and stacking operations to realize automatic loading of the cargo;

[0021] The visualization control module includes a computer, a display screen, and an operation panel, providing a visualization program interface for displaying vehicle information, carriage positioning and size measurement results, cargo position detection and coordinate calculation results, loading and stacking execution status information, and is also used to perform parameter setting, task scheduling, and motion control operations through the interface to achieve remote monitoring and control of the equipment.

[0022] Preferably, the vehicle information collection module is an RFID reader, a laser scanner or a camera, which is installed at the entrance of the long conveyor belt, the secondary guide conveyor belt and the turning conveyor belt to collect vehicle information before or during the loading process of the goods, and is used to automatically identify and record the vehicle information entering the loading area, including vehicle model, car size, load limit, and provide basic data for subsequent car positioning and size measurement, cargo position detection and coordinate calculation.

[0023] Preferably, the carriage size positioning and measurement module is installed on the linear module above the extended conveyor belt and the loading suction cup carried by the electric telescopic rod, and an auxiliary camera or sensor installed on the inner side of the loading frame is provided to ensure full coverage and accurate measurement of the carriage. The carriage is positioned using the camera and the FCN-ResNet50 network integrating the CBAM attention mechanism, and the carriage size is accurately measured through the triangulation algorithm of dual reference points, providing accurate positioning information for subsequent cargo stacking.

[0024] Preferably, the cargo position coordinate detection module is a camera and sensor installed in the cargo handling area within the working range of the loading multi-axis manipulator, which is integrated above the short conveyor belt and at the base of the loading multi-axis manipulator. The YOLOX target detection algorithm is used to detect the position of the cargo and calculate the position coordinates of the cargo. The appropriate loading method is selected in combination with the size of the carriage and the size of the cargo to ensure that the cargo can be accurately and efficiently stacked in the carriage.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention realizes each function through modular design, namely, vehicle information collection module, carriage positioning and size measurement module, cargo position detection and coordinate calculation module, loading and palletizing execution module, aiming to improve the loading efficiency and automation degree of the automatic loading system, the overall architecture of the system is based on the vehicle information collection module, and is developed with the carriage positioning and size measurement module as the main line, finally, the loading and palletizing execution module simulates palletizing loading, and at the same time, experimental analysis is carried out on the accuracy of the carriage positioning experiment and the palletizing loading experiment, verifying the stability and accuracy of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The overall structure diagram of an automatic loading system based on visual positioning and measurement of the present invention is shown;

[0027] Figure 2 A side view of the structure of an automatic loading system based on visual positioning and measurement of the present invention is shown;

[0028] Figure 3 The operating logic block diagram of an automatic loading system based on visual positioning and measurement of the present invention is shown.

[0029] In the figure:

[0030] 1. Loading frame support rod; 2. Loading suction cup; 3. Linear module; 4. Connecting rod; 5. Electric telescopic rod; 6. Install slider; 7. Extend conveyor belt; 8. Install connecting plate; 9. Roller; 10. Extend guide conveyor belt; 11. Slide; 12. Loading frame; 13. Anti-slip part; 14. Long conveyor belt; 15. Long conveyor belt support frame; 16. Secondary guide conveyor belt support frame; 17. Secondary guide conveyor belt; 18. Steering conveyor belt; 19. Steering conveyor belt support frame; 20. Primary guide conveyor belt; 21. Primary guide conveyor belt support frame; 22. Short conveyor belt; 23. Loading multi-axis robot base; 24. Loading multi-axis robot. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example 1

[0033] See also Figure 1 to Figure 2 The present invention proposes an automatic loading system based on visual positioning and measurement, including a loading frame 12, a linear module 3, an electric telescopic rod 5 and a loading multi-axis manipulator 24, wherein a linear module 3 is installed on one side of the loading frame 12, and both sides of the linear module 3 are installed in a slide 11 on the loading frame 12 through an installation slider 6, and a mounting connecting plate 8 is also installed on the slide 11 at one side of the installation slider 6, and an extension conveyor belt 7 is fixedly installed at the bottom of the installation connecting plate 8, and a roller shaft 9 is installed on the extension conveyor belt 7, and an electric telescopic rod 5 is installed on the linear module 3 at the top of the extension conveyor belt 7, and a loading suction cup 2 is provided at the bottom of the electric telescopic rod 5, and the output end of the electric telescopic rod 5 is connected to the loading suction cup 2 by a connection The rod 4 is installed, an extended guide conveyor belt 10 is installed on the side of the extended conveyor belt 7 away from the loading suction cup 2, a long conveyor belt 14 is provided at the bottom of the extended conveyor belt 7, a secondary guide conveyor belt 17 is provided on the end of the long conveyor belt 14 away from the extended conveyor belt 7, a steering conveyor belt 18 is provided on the side of the secondary guide conveyor belt 17 away from the long conveyor belt 14, a primary guide conveyor belt support frame 21 is provided on the side of the steering conveyor belt 18 away from the secondary guide conveyor belt 17, a short conveyor belt 22 is provided on the side of the primary guide conveyor belt support frame 21 away from the steering conveyor belt 18, a multi-axis feeding manipulator base 23 is sleeved on the outside of the short conveyor belt 22, and a multi-axis feeding manipulator 24 is installed on the top of the multi-axis feeding manipulator base 23.

[0034] In this embodiment, it should also be noted that the bottom of the loading frame 12 is supported and fixed by the loading frame support rod 1.

[0035] In this embodiment, it should also be noted that the bottom of the long conveyor belt 14 is supported and fixed by a long conveyor belt support frame 15 .

[0036] In this embodiment, it should also be noted that the bottom of the secondary guide conveyor belt 17 is supported and fixed by a secondary guide conveyor belt support frame 16 .

[0037] In this embodiment, it should also be noted that the bottom of the steering conveyor belt 18 is supported and fixed by a steering conveyor belt support frame 19.

[0038] In this embodiment, it should also be noted that the bottom of the primary guide conveyor belt support frame 21 is supported and fixed by the primary guide conveyor belt 20.

[0039] Example 2

[0040] Based on the above equipment, the present invention also proposes an automatic loading system based on visual positioning and measurement, including a vehicle information collection module, a compartment size positioning and measurement module, a cargo position coordinate detection module, a loading and stacking execution module, and a visualization control module;

[0041] The vehicle information collection module is used to automatically identify and record the vehicle information entering the loading area, including vehicle model, compartment size, and load limit;

[0042] The carriage size positioning and measurement module is used to locate the carriage and accurately measure the carriage size through a triangulation algorithm of dual reference points;

[0043] The cargo position coordinate detection module is used to detect the position of the cargo and calculate the cargo position coordinates;

[0044] The loading and stacking execution module is used to control the loading multi-axis manipulator 24 to perform precise cargo grabbing, handling and stacking operations according to the information provided by the cargo position detection and coordinate calculation module. The loading and stacking execution module is installed on the outside of the short conveyor belt 22 of the cargo processing area of ​​the loading multi-axis manipulator 24 or the loading multi-axis manipulator base 23 to facilitate the grabbing, handling and stacking operations of the cargo. According to the information provided by the cargo position detection and coordinate calculation module, the loading multi-axis manipulator 24 is controlled to perform precise cargo grabbing, handling and stacking operations to realize automatic loading of the cargo;

[0045] The visualization control module includes a computer, a display screen, and an operation panel, providing a visualization program interface for displaying vehicle information, carriage positioning and size measurement results, cargo position detection and coordinate calculation results, loading and stacking execution status information, and is also used to perform parameter setting, task scheduling, and motion control operations through the interface to achieve remote monitoring and control of the equipment.

[0046] In this embodiment, it should also be noted that the vehicle information collection module is an RFID reader, a laser scanner or a camera, which is installed at the entrance of the long conveyor belt 14, the secondary guide conveyor belt 17 and the turning conveyor belt 18, so as to collect vehicle information before or during the loading process of the goods, and is used to automatically identify and record the vehicle information entering the loading area, including vehicle model, car size, load limit, and provide basic data for subsequent car positioning and size measurement, cargo position detection and coordinate calculation.

[0047] In this embodiment, it should also be noted that the carriage size positioning and measurement module is installed on the linear module 3 above the extended conveyor belt 7 and the loading suction cup 2 carried by the electric telescopic rod 5, and an auxiliary camera or sensor installed on the inner side of the loading frame 12 is provided to ensure full coverage and accurate measurement of the carriage. The carriage is positioned using the camera and the FCN-ResNet50 network that integrates the CBAM attention mechanism, and the carriage size is accurately measured through the triangulation algorithm of the dual reference points, providing accurate positioning information for subsequent cargo stacking.

[0048] In this embodiment, it should also be noted that the cargo position coordinate detection module is a camera and sensor installed in the cargo handling area within the working range of the loading multi-axis manipulator 24, which is integrated above the short conveyor belt 22 and at the base 23 of the loading multi-axis manipulator. The YOLOX target detection algorithm is used to detect the position of the cargo and calculate the position coordinates of the cargo. Combined with the size of the carriage and the size of the cargo, the appropriate loading method is selected to ensure that the cargo can be accurately and efficiently stacked in the carriage.

[0049] Example 3

[0050] See also Figure 3 Based on the above equipment and system, in the practical application of the present invention, the automatic loading method for precise loading includes the following processes:

[0051] (1) Vehicle information collection

[0052] When the truck enters the loading area, the RFID reader, laser scanner or camera installed on the vehicle information collection module at the entrance of the long conveyor belt 14, the secondary guide conveyor belt 17 and the turning conveyor belt 18 will automatically identify and record the vehicle information, including the vehicle model, compartment size, and load limit. This information provides basic data for subsequent compartment positioning, cargo position detection and stacking operations.

[0053] Through this step, the vehicle information can be automatically collected, the tediousness and errors of manual input can be avoided, and the data accuracy can be improved.

[0054] (2) Carriage size positioning measurement

[0055] The carriage size positioning and measurement module is installed on the loading suction cup 2 carried by the linear module 3 and the electric telescopic rod 5 above the extended conveyor belt 7, and an auxiliary camera or sensor installed on the inner side of the loading frame 12 is provided. The module uses the camera and the FCN-ResNet50 network integrating the CBAM attention mechanism to locate the carriage, and accurately measures the size of the carriage through the triangulation algorithm of dual reference points.

[0056] Through this step, high-precision positioning and measurement technology is realized, ensuring full coverage and accurate measurement of the carriage, and providing accurate positioning information for subsequent cargo stacking.

[0057] (3) Cargo location coordinate detection

[0058] The cameras and sensors installed in the cargo handling area within the working range of the loading multi-axis robot 24 and the cargo position coordinate detection module integrated above the short conveyor belt 22 and at the base 23 of the loading multi-axis robot use the YOLOX target detection algorithm to detect the position of the cargo and calculate the position coordinates of the cargo. Combined with the size of the carriage and the size of the cargo, the system selects the appropriate loading method.

[0059] Through this step, intelligent detection and calculation are realized, the accuracy of cargo location identification is improved, and it is ensured that the cargo can be accurately and efficiently stacked into the carriage.

[0060] (4) Loading and stacking execution

[0061] The loading and stacking execution module installed on the outside of the short conveyor belt 22 in the cargo processing area of ​​the loading multi-axis manipulator 24 or on the base 23 of the loading multi-axis manipulator controls the loading multi-axis manipulator 24 to perform precise cargo grabbing, handling and stacking operations based on the information provided by the cargo position detection and coordinate calculation module, thereby realizing automated loading of cargo.

[0062] Through this step, automated palletizing operations are achieved, manual intervention is reduced, and loading efficiency and accuracy are improved.

[0063] (5) Visual control

[0064] The visual control module provides a visual program interface for displaying vehicle information, carriage positioning and size measurement results, cargo position detection and coordinate calculation results, loading and stacking execution status information. It is also used to perform parameter setting, task scheduling, and motion control operations through this interface to achieve remote monitoring and control of the equipment.

[0065] Through this step, the visual interface is realized, making the operation more intuitive and convenient, improving the controllability and stability of the equipment. At the same time, the remote monitoring and control functions further enhance the security and flexibility of the system.

[0066] In summary, the automatic loading system for precise loading of the present invention realizes the automation of the whole process from cargo identification to loading through vehicle information collection, carriage size positioning measurement, cargo position coordinate detection, loading and stacking execution and visual control steps, combined with a long conveyor belt 14, a secondary guide conveyor belt 17, a steering conveyor belt 18, an extension conveyor belt 7, a linear module 3, an electric telescopic rod 5, a loading suction cup 2, and a loading multi-axis manipulator 24. The system adopts advanced technical means to ensure accuracy and efficiency. Specific implementation method:

[0068] The automatic loading equipment based on the above system has the following working steps:

[0069] 1. Loading:

[0070] The goods are first placed on the short conveyor belt 22;

[0071] The loading multi-axis manipulator 24 can accurately grab the goods and place them at the designated position of the short conveyor belt 22 through its flexible multi-axis structure;

[0072] The operation of the loading multi-axis manipulator 24 is controlled by the loading and stacking execution module, and accurate grabbing and placement are performed according to the information provided by the cargo position coordinate detection module;

[0073] Through this step, the high-precision grasping and placement of the loading multi-axis manipulator 24 ensures the accuracy and efficiency of cargo loading;

[0074] 2. Transmission:

[0075] The goods are transported from the short conveyor belt 22;

[0076] The short conveyor belt 22 is responsible for moving the goods from the loading position to the vicinity of the primary guide conveyor belt support frame 21;

[0077] The goods are oriented through the primary guide conveyor belt 21 to ensure that the goods enter the steering conveyor belt 18 in the correct posture;

[0078] The goods are turned 90 degrees or at other angles on the turning conveyor 18 to adapt to the layout and size of the carriage;

[0079] After turning, the goods enter the secondary guide conveyor 17 for fine adjustment to ensure that the goods can be accurately aligned with the designated position in the carriage;

[0080] The goods are moved from the secondary guide conveyor belt 17 to the long conveyor belt 14, which is responsible for transporting the goods over a long distance to the vicinity of the carriage;

[0081] The goods are moved from the end of the long conveyor belt 14 to the extended guide conveyor belt 10 to further fine-tune the position and posture of the goods;

[0082] Finally, the goods enter the extended conveyor belt 7 and are ready for loading operations;

[0083] The extended conveyor belt 7 is usually located near the carriage so as to transfer the goods directly into the carriage;

[0084] Through this step, through the coordinated work of multiple conveyor belts, the goods are accurately and efficiently transferred to the vicinity of the carriage, ready for loading operations;

[0085] 3. Loading:

[0086] When the goods are transferred to the end of the extended conveyor belt 7, the electric telescopic rod 5 is activated to drive the loading suction cup 2 to move downward to absorb the goods;

[0087] Then, the electric telescopic rod 5 lifts the cargo to an appropriate height and moves it to a designated position in the carriage;

[0088] Prior to this, the carriage size positioning and measurement module has already accurately positioned and measured the carriage, ensuring that the loading suction cup 2 can accurately place the cargo at the designated location in the carriage;

[0089] After the cargo is placed at the designated location in the vehicle compartment, the electric telescopic rod 5 is retracted and the loading suction cup 2 releases the cargo;

[0090] Then, the system automatically proceeds to load the next cargo until all cargo has been loaded;

[0091] Through this step, the electric telescopic rod 5 and the loading suction cup 2 work together to achieve accurate and efficient loading of goods.

[0092] The precise measurement of the carriage positioning and measurement module ensures the accuracy and stability of the loading operation;

[0093] In summary, when the equipment of the present invention is specifically applied, the loading, transmission and loading operations of goods are a highly automated process. Through the coordinated work of multiple key components and through precise loading, transmission and loading operations, the loading task of goods can be completed efficiently.

[0094] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic loading system based on visual positioning and measurement, characterized in that: The invention comprises a loading frame (12), a linear module (3), an electric telescopic rod (5) and a loading multi-axis manipulator (24), wherein a linear module (3) is installed on one side of the loading frame (12), and both sides of the linear module (3) are installed in a slide groove (11) on the loading frame (12) through an installation slider (6), and a mounting connecting plate (8) is also installed on the slide groove (11) at the installation slider (6) on one side, and an extension conveyor belt (7) is fixedly installed at the bottom of the installation connecting plate (8), and a roller shaft (9) is installed on the extension conveyor belt (7), and an electric telescopic rod (5) is installed on the linear module (3) at the top of the extension conveyor belt (7), and a loading suction cup (2) is provided at the bottom of the electric telescopic rod (5), and the output end of the electric telescopic rod (5) and the loading suction cup (2) are installed through a connecting rod (4), and the An extended guide conveyor belt (10) is installed on the side of the extended conveyor belt (7) away from the loading suction cup (2); a long conveyor belt (14) is provided at the bottom of the extended conveyor belt (7); a secondary guide conveyor belt (17) is provided at one end of the long conveyor belt (14) away from the extended conveyor belt (7); a steering conveyor belt (18) is provided on the side of the secondary guide conveyor belt (17) away from the long conveyor belt (14); a primary guide conveyor belt support frame (21) is provided on the side of the steering conveyor belt (18) away from the secondary guide conveyor belt (17); a short conveyor belt (22) is provided on the side of the primary guide conveyor belt support frame (21) away from the steering conveyor belt (18); a multi-axis loading manipulator base (23) is sleeved on the outer side of the short conveyor belt (22); a multi-axis loading manipulator base (23) is installed on the top of the multi-axis loading manipulator base (23).

2. The automatic loading system based on visual positioning and measurement according to claim 1 is characterized in that: The bottom of the loading frame (12) is supported and fixed by the loading frame support rod (1).

3. The automatic loading system based on visual positioning and measurement according to claim 2 is characterized in that: The bottom of the long conveyor belt (14) is supported and fixed by a long conveyor belt support frame (15).

4. The automatic loading system based on visual positioning and measurement according to claim 3 is characterized in that: The bottom of the secondary guide conveyor belt (17) is supported and fixed by a secondary guide conveyor belt support frame (16).

5. The automatic loading system based on visual positioning and measurement according to claim 4 is characterized in that: The bottom of the steering conveyor belt (18) is supported and fixed by a steering conveyor belt support frame (19).

6. The automatic loading system based on visual positioning and measurement according to claim 5 is characterized in that: The bottom of the primary guide conveyor belt support frame (21) is supported and fixed by the primary guide conveyor belt (20).

7. The automatic loading system based on visual positioning and measurement according to claim 6 is characterized in that: It includes vehicle information collection module, carriage size positioning and measurement module, cargo position coordinate detection module, loading and stacking execution module, and visual control module; The vehicle information collection module is used to automatically identify and record the vehicle information entering the loading area, including vehicle model, compartment size, and load limit; The carriage size positioning and measurement module is used to locate the carriage and accurately measure the carriage size through a triangulation algorithm of dual reference points; The cargo position coordinate detection module is used to detect the position of the cargo and calculate the cargo position coordinates; The loading and stacking execution module is used to control the loading multi-axis manipulator (24) to perform precise cargo grabbing, handling and stacking operations according to information provided by the cargo position detection and coordinate calculation module. The loading and stacking execution module is installed on the outside of the short conveyor belt (22) of the cargo processing area of ​​the loading multi-axis manipulator (24) or on the loading multi-axis manipulator base (23) to facilitate the cargo grabbing, handling and stacking operations. According to the information provided by the cargo position detection and coordinate calculation module, the loading multi-axis manipulator (24) is controlled to perform precise cargo grabbing, handling and stacking operations, thereby realizing automatic cargo loading; The visualization control module includes a computer, a display screen, and an operation panel, providing a visualization program interface for displaying vehicle information, carriage positioning and size measurement results, cargo position detection and coordinate calculation results, loading and stacking execution status information, and is also used to perform parameter setting, task scheduling, and motion control operations through the interface to achieve remote monitoring and control of the equipment.

8. The automatic loading system based on visual positioning and measurement according to claim 7 is characterized in that: The vehicle information collection module is an RFID reader, a laser scanner or a camera, which is installed at the entrance of the long conveyor belt (14), the secondary guide conveyor belt (17) and the turning conveyor belt (18) to collect vehicle information before or during the loading process of the goods, and is used to automatically identify and record the vehicle information entering the loading area, including the vehicle model, compartment size, and load limit, so as to provide basic data for subsequent compartment positioning and size measurement, cargo position detection and coordinate calculation.

9. The automatic loading system based on visual positioning and measurement according to claim 7 is characterized in that: The carriage size positioning and measuring module is installed on the linear module (3) above the extended conveyor belt (7) and the loading suction cup (2) carried by the electric telescopic rod (5), and provides an auxiliary camera or sensor installed on the inner side of the loading frame (12) to ensure full coverage and accurate measurement of the carriage. The carriage is positioned using the camera and the FCN-ResNet50 network integrated with the CBAM attention mechanism, and the carriage size is accurately measured using a triangulation algorithm of dual reference points, providing accurate positioning information for subsequent cargo stacking.

10. The automatic loading system based on visual positioning and measurement according to claim 7, characterized in that: The cargo position coordinate detection module is a camera and a sensor installed in the cargo processing area within the working range of the loading multi-axis manipulator (24), which is integrated above the short conveyor belt (22) and at the loading multi-axis manipulator base (23). The YOLOX target detection algorithm is used to detect the position of the cargo and calculate the position coordinates of the cargo. In combination with the size of the carriage and the size of the cargo, a suitable loading method is selected to ensure that the cargo can be accurately and efficiently stacked in the carriage.

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