A hoisting visual and ultrasonic navigation control system and a method for loading and unloading

Abstract

The application discloses a kind of hoisting vision and ultrasonic wave navigation control system and unloading and loading method, including acquisition module, comparison module and calculation module, acquisition module, for the profile of the vector diagram of camera feedback is collected;Comparison module is connected with acquisition module, for the profile of the vector diagram of feedback is compared with the profile of target object calibration in real time, if the similarity of vector diagram profile and the profile of target object calibration is greater than the preset similarity threshold, then judge the feedback vector diagram is target object;Calculation module is connected with comparison module, for the distance between camera and target object is calculated according to the profile size of feedback vector diagram.The application improves the degree of automation of equipment, saves manpower cost by eliminating the need for multiple manual operations for each operation of equipment;Improve the functional structure integration of equipment, avoid various risks caused by manual operation;Improve work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electrical control, and particularly discloses a hoisting vision and ultrasonic wave navigation control system and a loading and unloading method. BACKGROUND

[0002] In the prior art, the loading and unloading of the pallet has the following defects:

[0003] 1) Multiple people need to observe and guide the driver and the operator to perform combined manipulation and handling.

[0004] 2) The crane and the loading and unloading equipment need to be jointly operated every time the transfer is performed, and multiple devices are needed.

[0005] 3) Multiple people need to manipulate every time the operation is performed, and the labor cost is high.

[0006] 4) The operation time is long, and the efficiency is low.

[0007] The above defects existing in the current pallet loading and unloading process are technical problems to be solved at present. SUMMARY

[0008] The present application provides a hoisting vision and ultrasonic wave navigation control system, which aims to solve at least one of the above defects existing in the current pallet loading and unloading process.

[0009] One aspect of the present application relates to a hoisting vision and ultrasonic wave navigation control system, comprising a collection module, a comparison module and a calculation module, wherein,

[0010] The collection module is configured to collect the outline of the vector diagram fed back by the camera.

[0011] The comparison module is connected with the collection module and is configured to compare the outline of the vector diagram fed back with the outline of the target object calibrated in real time, and if the similarity of the outline of the vector diagram and the outline of the target object calibrated is greater than a preset similarity threshold, it is determined that the vector diagram fed back is the target object.

[0012] The calculation module is connected with the comparison module and is configured to calculate the distance between the camera and the target object according to the size of the outline of the vector diagram fed back.

[0013] Further, the hoisting vision and ultrasonic wave navigation control system further comprises a reversing navigation module connected with the calculation module, which is configured to automatically stop the vehicle reversing when it is identified that the distance between the camera and the target object is less than or equal to a preset distance threshold and the center point position of the target object fed back by the camera and the calibrated center point overlap each other or the deviation value is less than or equal to a preset deviation threshold.

[0014] Further, the hoisting visual and ultrasonic navigation control system further comprises a preliminary positioning module and a precise positioning module,

[0015] The preliminary positioning module is configured to complete preliminary positioning of the arm support according to an automatic work flow.

[0016] The precise positioning module is configured to, after the preliminary positioning is completed, calculate relative coordinates of X, Y and Z axes between the target object and the camera according to target object capture of the camera and distance feedback of the ultrasonic radar, and automatically complete precise positioning of the arm support according to the relative coordinates.

[0017] Further, the precise positioning module is specifically configured to collect a vector diagram of the target object by using the camera; detect the target object in the vector diagram, and frame a shape of the target object by a rectangular frame; find two image plane coordinates of a bottom side of the rectangular frame, and mark them as (u1, v1) and (u2, v2) respectively; derive plane coordinates (x1, y1) and (x2, y2) from the image plane coordinate points (u1, v1) and (u2, v2) by using a geometric relationship derivation method; and calculate the distance d between the camera and the target object according to the plane coordinates (x1, y1) and (x2, y2) by using a Euclidean distance formula.

[0018] Another aspect of the present application relates to a hoisting visual and ultrasonic navigation control method applied to the hoisting visual and ultrasonic navigation control system described above, and the hoisting visual and ultrasonic navigation control method comprises the following steps:

[0019] Collecting an outline of a feedback vector diagram of the camera;

[0020] Real-time comparing the outline of the feedback vector diagram with an outline of a target object calibration, and if a similarity of the outline of the feedback vector diagram and the outline of the target object calibration is greater than a preset similarity threshold, then judging that the feedback vector diagram is the target object;

[0021] Calculating a distance between the camera and the target object according to a size of the outline of the feedback vector diagram.

[0022] Further, the step of calculating the distance between the camera and the target object according to the size of the outline of the feedback vector diagram further comprises:

[0023] When it is identified that the distance between the camera and the target object is less than or equal to a preset distance threshold, and a center point position of the target object feedback by the camera and a calibrated center point mutually overlap, or a deviation value is less than or equal to a preset deviation threshold, then automatically stopping the vehicle from reversing.

[0024] Further, the step of calculating the distance between the camera and the target object according to the size of the outline of the feedback vector diagram comprises:

[0025] The arm frame is automatically positioned according to a preliminary positioning process;

[0026] After the preliminary positioning is completed, the relative coordinates of the X, Y and Z axes between the target object and the camera are calculated according to the target object capture of the camera and the distance feedback of the ultrasonic radar, and the arm frame is automatically positioned accurately according to the relative coordinates.

[0027] Further, in the step of automatically completing accurate positioning according to the relative coordinates of the X, Y and Z axes between the target object and the camera after the preliminary positioning is completed, a vector diagram of the target object is collected using a camera; the target object in the vector diagram is detected, and the shape of the target object is framed out through a rectangular frame; two image plane coordinates of the bottom edge of the rectangular frame are found in combination with the rectangular frame information and are marked as (u1, v1) and (u2, v2); plane coordinates (x1, y1) and (x2, y2) are derived from the image plane coordinate points (u1, v1) and (u2, v2) using a geometric relationship derivation method; and the distance d between the camera and the target object is calculated through an Euclidean distance formula according to the plane coordinates (x1, y1) and (x2, y2).

[0028] Another aspect of the present application relates to a method for loading and unloading a pallet, which is applied to the above-mentioned lifting and transporting visual and ultrasonic navigation control system, and the method comprises the following steps:

[0029] The pallet fixed on the auxiliary frame of the transport vehicle is pushed to a lifting position through the traction structure of the transport vehicle;

[0030] The crane is controlled to hook the pallet, the locking cylinder on the traction structure is extended, the locking head is separated from the pallet, and the fixed beam is driven back to the initial position by the traction cylinder;

[0031] The extension and retraction structure and the amplitude structure on the crane are driven to drive the lifting arm to push and pull the pallet, so that the pallet rolls on the auxiliary frame, and when the tail of the pallet contacts the ground, the pallet tail roller structure and the crane jointly realize the landing of the pallet.

[0032] Another aspect of the present application relates to a method for loading and unloading a pallet, which is applied to the above-mentioned lifting and transporting visual and ultrasonic navigation control system, and the method comprises the following steps:

[0033] The pallet tail roller structure and the crane are controlled to jointly lift the pallet on the ground to the auxiliary frame of the transport vehicle, the extension and retraction structure and the amplitude structure on the crane are driven to drive the lifting arm to push and pull the pallet, so that the pallet rolls on the auxiliary frame and rolls to the traction position;

[0034] The fixed beam is driven to the traction position by the traction oil cylinder, the tray is rolled onto the fixed beam by the crane, the crane is controlled to disengage from the tray, the locking oil cylinder on the traction structure is extended, and the locking head hooks the tray.

[0035] The tray is pulled to the fixed position by the traction structure, and the tray is fixed on the auxiliary frame of the transport vehicle.

[0036] The present application has the following advantages:

[0037] The present application provides a hoisting visual and ultrasonic navigation control system and a loading and unloading method, which adopts a collection module, a comparison module and a calculation module. The collection module is used to collect the outline of the vector diagram fed back by the camera. The comparison module is connected with the collection module and is used to compare the outline of the vector diagram fed back with the outline of the target object in real time. If the similarity of the outline of the vector diagram and the outline of the target object is greater than the preset similarity threshold, it is determined that the vector diagram fed back is the target object. The calculation module is connected with the comparison module and is used to calculate the distance between the camera and the target object according to the size of the outline of the vector diagram fed back. The hoisting visual and ultrasonic navigation control system and the loading and unloading method provided by the present application improve the automation degree of the equipment, save the labor cost by eliminating the need for multiple manual operations for each operation of the equipment, improve the functional structure integration of the equipment, avoid various risks caused by manual operation, and improve the operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The figure is a functional block diagram of the first embodiment of the hoisting visual and ultrasonic navigation control system of the present application;

[0039] Figure 2 The figure is a functional block diagram of the second embodiment of the hoisting visual and ultrasonic navigation control system of the present application;

[0040] Figure 3 The figure is a working principle diagram of the loading and unloading method of the present application.

[0041] REFERENCE SIGNS:

[0042] 10, collection module; 20, comparison module; 30, calculation module; 40, reverse navigation module; 50, preliminary positioning module; 60, accurate positioning module. DETAILED DESCRIPTION

[0043] In order to better understand the above technical solutions, the above technical solutions will be described in detail in combination with the drawings in the specification and specific embodiments.

[0044] As Figure 1 and Figure 2As shown, the first embodiment of the present application proposes a lifting visual and ultrasonic navigation control system, comprising a collection module 10, a comparison module 20 and a calculation module 30, wherein the collection module 10 is used for collecting the profile of the vector diagram fed back by the camera; the comparison module 20 is connected with the collection module 10 and is used for comparing the profile of the vector diagram fed back with the profile of the target object calibrated in real time, if the similarity of the profile of the vector diagram and the profile of the target object calibrated is greater than the preset similarity threshold, then it is judged that the vector diagram fed back is the target object; the calculation module 30 is connected with the comparison module 20 and is used for calculating the distance between the camera and the target object according to the profile size of the vector diagram fed back. The collection module 10 is used for collecting the profile of the vector diagram fed back by the camera. The comparison module 20 is used for comparing the profile of the vector diagram fed back by the camera with the profile of the target object calibrated in real time, and when the similarity is ≥55%, it is defaulted that the vector diagram fed back is the target object. The calculation module 30 is used for calculating the distance between the camera and the target object according to the profile size of the vector diagram fed back.

[0045] Further, see Figure 1 and Figure 2 The lifting visual and ultrasonic navigation control system proposed in the embodiment further comprises a reversing navigation module 40, the reversing navigation module 40 is connected with the calculation module 30 and is used for automatically stopping the vehicle from reversing when it is identified that the distance between the camera and the target object is less than or equal to the preset distance threshold and the position of the center point of the target object fed back by the camera and the calibrated center point are mutually overlapped or the deviation value is less than or equal to the preset deviation threshold. The reversing navigation module 40 is used for automatically stopping the vehicle from reversing when the distance to the target object is ≤1.5 meters and the position of the center point of the target object fed back by the camera and the calibrated center point are overlapped or ≤1% deviation.

[0046] Preferably, see Figure 1 and Figure 2The hoisting visual and ultrasonic wave navigation control system also comprises a preliminary positioning module 50 and a precise positioning module 60, wherein the preliminary positioning module 50 is used for the arm support to complete preliminary positioning according to an automatic working process; the precise positioning module 60 is used for, after the preliminary positioning is completed, calculating the relative coordinates of the X, Y and Z axes between the target object and the camera according to the target object capture of the camera and the distance feedback of the ultrasonic wave radar, and the arm support automatically completes precise positioning according to the relative coordinates.

[0047] The present application relates to a kind of hoisting visual and ultrasonic wave navigation control method, applied in the hoisting visual and ultrasonic wave navigation control system described above, hoisting visual and ultrasonic wave navigation control method includes the following steps:

[0048] Step S110, the outline of the vector diagram feedback by camera is collected.

[0049] The outline of the vector diagram feedback by camera is collected by the acquisition module.

[0050] Step S120, the outline of the vector diagram feedback is compared with the outline of target object calibration in real time, if the similarity of vector diagram outline and the outline of target object calibration is greater than the preset similarity threshold, then it is judged that the vector diagram feedback is target object.

[0051] The outline of the vector diagram feedback by camera is compared with the outline of target object calibration in real time by the comparison module, and when similarity is greater than or equal to 55%, the vector diagram feedback is regarded as target object.

[0052] Step S130, the distance between camera and target object is calculated according to the outline size of the vector diagram feedback.

[0053] The distance between camera and target object is calculated according to the outline size of the vector diagram feedback by the calculation module.

[0054] Further, the hoisting visual and ultrasonic wave navigation control method provided by the embodiment further comprises the following steps after step S130:

[0055] Step S140, when it is identified that the distance between the camera and the target object is less than or equal to the preset distance threshold value and the center point position of the target object fed back by the camera and the calibrated center point are mutually overlapped or the deviation value is less than or equal to the preset deviation threshold value, the vehicle is automatically stopped.

[0056] The reverse navigation module is used for automatically stopping the vehicle when the distance to the target object is less than or equal to 1.5 meters and the center point position of the target object fed back by the camera and the calibrated center point are overlapped or the deviation is less than or equal to 1%.

[0057] Preferably, the hoisting visual and ultrasonic wave navigation control method provided by the embodiment comprises the following steps in step S130:

[0058] Step S131, the arm frame is preliminarily positioned according to the automatic working process.

[0059] The preliminary positioning module preliminarily positions the arm frame according to the automatic working process.

[0060] Step S132, after the preliminary positioning is completed, the relative coordinates of the X, Y and Z axes between the target object and the camera are calculated according to the target object capture of the camera and the distance feedback of the ultrasonic wave radar, and the arm frame is automatically positioned accurately according to the relative coordinates.

[0061] The accurate positioning module is used for accurate positioning: after the preliminary positioning is completed, the relative coordinates of the X, Y and Z axes between the target object and the camera are calculated according to the target object capture of the camera and the distance feedback of the ultrasonic wave radar, and the arm frame is automatically positioned accurately according to the relative coordinates. Specifically, the vector diagram of the target object is collected by using the camera; the shape of the target object is boxed out by a rectangular frame through detection of the target object in the vector diagram; two image plane coordinates of the bottom edge of the rectangular frame are found and marked as (u1, v1) and (u2, v2) in combination with the rectangular frame information; the plane coordinates (x1, y1) and (x2, y2) are derived from the image plane coordinate points (u1, v1) and (u2, v2) by using the geometric relationship derivation method; and the distance d between the camera and the target object is calculated by the Euclidean distance formula according to the plane coordinates (x1, y1) and (x2, y2).

[0062] The present application relates to a method for loading and unloading pallets, which is applied to the hoisting visual and ultrasonic wave navigation control system, and the method comprises the following steps:

[0063] Step S210, the pallet fixed on the auxiliary frame of the transport vehicle is pushed to the lifting position by the traction structure of the transport vehicle.

[0064] The tray fixed on the auxiliary frame of the transport vehicle is pushed to the lifting position of the auxiliary frame by the traction structure of the transport vehicle.

[0065] In step S220, the crane is controlled to hook the tray, the locking cylinder of the traction structure is extended, the locking head is separated from the tray, and the fixed beam is driven back to the initial position by the traction cylinder.

[0066] The crane is controlled to hook the tray, the locking cylinder of the traction structure is extended, the locking head is separated from the tray, and the fixed beam is driven back to the initial position by the traction cylinder.

[0067] In step S230, the tray is rolled on the auxiliary frame by driving the crane arm to push and pull the tray through the luffing structure and telescopic structure of the crane.

[0068] The tray is rolled on the auxiliary frame by driving the crane arm to push and pull the tray through the luffing structure and telescopic structure of the crane.

[0069] The present application also relates to a method for loading a tray, which is applied to the above-mentioned lifting visual and ultrasonic navigation control system, and the method comprises the following steps:

[0070] In step S310, the tray on the ground is lifted to the auxiliary frame of the transport vehicle by the tray tail end roller structure and the crane, the tray is rolled on the auxiliary frame by driving the crane arm to push and pull the tray through the luffing structure and telescopic structure of the crane, and the tray is rolled to the traction position.

[0071] Firstly, the tray on the ground is lifted to the auxiliary frame of the transport vehicle by the tray tail end roller structure and the crane.

[0072] In step S320, the fixed beam is driven to the traction position by the traction cylinder, the tray is rolled onto the fixed beam by the crane, the crane arm is controlled to be separated from the tray, the locking cylinder of the traction structure is extended, and the locking head hooks the tray.

[0073] Firstly, the fixed beam is driven to the traction position by the traction cylinder of the transport vehicle, and the tray is rolled onto the fixed beam by the crane.

[0074] In step S330, the tray is pulled to the fixed position by the traction structure, and the tray is fixed on the auxiliary frame of the transport vehicle.

[0075] Firstly, the tray is pulled to a fixed position by the towing structure of the transport vehicle; then the tray is fixed on the auxiliary frame of the transport vehicle.

[0076] The embodiment provides a hoisting visual and ultrasonic navigation control system and a loading and unloading and loading method, compared with the prior art, adopts a collection module, a comparison module and a calculation module, the collection module is used for collecting the outline of a vector diagram fed back by a camera; the comparison module is connected with the collection module and is used for comparing the outline of the vector diagram fed back with the outline of a target object calibrated in real time, if the similarity of the outline of the vector diagram and the outline of the target object calibrated is greater than a preset similarity threshold, then it is judged that the vector diagram fed back is the target object; the calculation module is connected with the comparison module and is used for calculating the distance between the camera and the target object according to the outline size of the vector diagram fed back. The hoisting visual and ultrasonic navigation control system and the loading and unloading and loading method provided by the embodiment improve the automation degree of equipment, save manpower cost by omitting manual operation required by each operation of the equipment, improve the functional structure integration of the equipment, avoid various risks caused by manual operation, and improve operation efficiency.

[0077] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to cover all such variations and modifications that fall within the scope of the application. It should be apparent that the application can be embodied in a variety of forms other than the specific embodiments described and that the "specific embodiments" have been used only for the purposed of exemplification. Accordingly, the application is not limited to the specific embodiments described. Rather, it is intended to cover all modifications and alternatives that fall within the scope of the application as defined by the appended claims and their equivalents.

Claims

1. A hoisting vision and ultrasonic navigation control system, characterized in that, It includes a data acquisition module (10), a comparison module (20), a calculation module (30), a reversing navigation module (40), a preliminary positioning module (50), and a precise positioning module (60), among which, The acquisition module (10) is used to acquire the outline of the vector image fed back by the camera; The comparison module (20) is connected to the acquisition module (10) and is used to compare the outline of the feedback vector image with the outline of the target object in real time. If the similarity between the outline of the vector image and the outline of the target object is greater than a preset similarity threshold, then the feedback vector image is determined to be the target object. The calculation module (30) is connected to the comparison module (20) and is used to calculate the distance between the camera and the target based on the outline size of the vector image fed back. The reversing navigation module (40) is connected to the calculation module (30) and is used to automatically stop the vehicle from reversing when it is detected that the distance between the camera and the target is less than or equal to a preset distance threshold and the center point of the target fed back by the camera overlaps with the calibrated center point, or the deviation value is less than or equal to a preset deviation threshold. The preliminary positioning module (50) is used for the boom to complete the preliminary positioning according to the automatic workflow. The precision positioning module (60) is used to calculate the relative coordinates of the target object and the camera along the X, Y, and Z axes based on the target object capture by the camera and the distance feedback from the ultrasonic radar after the initial positioning is completed. The boom automatically completes the precision positioning based on the relative coordinates. Specifically, the precise positioning module (60) is used to acquire a vector image of the target object using the camera; detect the target object in the vector image and outline its shape using a rectangle; combine the rectangle information to find the two image plane coordinates of the bottom edge of the rectangle, labeled as (u1, v1) and (u2, v2) respectively; use the geometric derivation method to derive the plane coordinates (x1, y1) and (x2, y2) from the image plane coordinates (u1, v1) and (u2, v2); and calculate the distance d between the camera and the target object using the Euclidean distance formula based on the plane coordinates (x1, y1) and (x2, y2).

2. A hoisting vision and ultrasonic navigation control method, applied in the hoisting vision and ultrasonic navigation control system as described in claim 1, characterized in that, The hoisting visual and ultrasonic navigation control method includes the following steps: Capture the outline of the vector image fed back by the camera; The outline of the returned vector image is compared with the outline of the target object in real time. If the similarity between the outline of the vector image and the outline of the target object is greater than a preset similarity threshold, then the returned vector image is determined to be the target object. The distance between the camera and the target is calculated based on the outline size of the vector image provided in the feedback.

3. The hoisting vision and ultrasonic navigation control method as described in claim 2, characterized in that, The step of calculating the distance between the camera and the target based on the outline size of the vector image provided by the feedback further includes: When the distance between the camera and the target is less than or equal to a preset distance threshold and the center point of the target fed back by the camera overlaps with the calibrated center point, or the deviation is less than or equal to a preset deviation threshold, the vehicle will automatically stop reversing.

4. The hoisting vision and ultrasonic navigation control method as described in claim 3, characterized in that, The step of calculating the distance between the camera and the target object based on the outline size of the vector image fed back includes: Used for the boom to complete the initial positioning according to the automated workflow; After initial positioning is completed, the relative coordinates of the target object and the camera along the X, Y, and Z axes are calculated based on the target object capture by the camera and the distance feedback from the ultrasonic radar. The boom then automatically completes precise positioning based on these relative coordinates.

5. The hoisting vision and ultrasonic navigation control method as described in claim 4, characterized in that, After initial positioning is completed, the relative coordinates of the target object and the camera along the X, Y, and Z axes are calculated based on the target object capture by the camera and the distance feedback from the ultrasonic radar. The boom then automatically completes precise positioning based on these relative coordinates. In this step, the camera captures a vector image of the target object; the target object in the vector image is detected, and its shape is outlined using a rectangle; the two image plane coordinates at the bottom edge of the rectangle are found, labeled (u1, v1) and (u2, v2); using geometric derivation, the plane coordinates (x1, y1) and (x2, y2) are derived from the image plane coordinates (u1, v1) and (u2, v2); and the distance d between the camera and the target object is calculated using the Euclidean distance formula based on the plane coordinates (x1, y1) and (x2, y2).

6. A method for unloading a pallet, applied in the lifting vision and ultrasonic navigation control system as described in claim 1, characterized in that, The method for unloading the pallet includes the following steps: The pallet, which is fixed to the subframe of the transport vehicle, is pushed to the lifting position by the traction structure of the transport vehicle. The crane boom hooks onto the pallet, the locking cylinder on the traction structure extends, the lock head disengages from the pallet, and the traction cylinder drives the fixed beam back to the initial position. The boom is driven by the luffing and telescopic structures on the crane to push and pull the pallet, so that the pallet rolls on the subframe. When the rear of the pallet touches the ground, the pallet's rear roller structure and the crane work together to bring the pallet to the ground.

7. A method for assembling a pallet, applied in the lifting vision and ultrasonic navigation control system as described in claim 1, characterized in that, The method for achieving pallet assembly Includes the following steps: The control system uses the rear roller structure of the control pallet and the crane to lift the pallet from the ground onto the subframe of the transport vehicle. The boom of the crane is driven by the luffing and telescopic structures to push and pull the pallet, so that the pallet rolls on the subframe and rolls to the traction position. The traction cylinder drives the fixed beam to the traction position, and the crane rolls the pallet onto the fixed beam. Then, the crane boom is controlled to detach from the pallet, and the locking cylinder on the traction structure extends and the locking head hooks the pallet. The pallet is pulled to a fixed position by a traction structure and then secured to the subframe of the transport vehicle.

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