Visual agv loading and unloading storage location state detection system
By setting up DM QR codes and identification cards in the loading and unloading warehouse locations of the agv, collecting information using industrial cameras and image acquisition cards, generating warehouse location grid maps and material storage status information, the problem that agv cannot automatically detect the loading and unloading warehouse location materials storage status is solved, and the automation of agv handling is realized, reducing labor costs.
Patent Information
- Application Number
- CN202422027017.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-20
- Publication Date
- 2025-06-03
- Estimated Expiration
- 2034-08-20
AI Technical Summary
AGV cannot automatically detect the material storage status of the loading and unloading warehouse during transportation, resulting in human judgment, which increases the handling cost of agv.
A visual agv loading and unloading warehouse position status detection system is designed. By setting up DM QR code cards at the four corners of the loading and unloading warehouse position and setting up signs in the material warehouse position, using industrial cameras and image acquisition cards to collect information, generate the library position grid map and material storage status information, transmit it to the computer for processing, and automatically control the handling with the agv control system.
It realizes automatic detection of the status information of the loading and unloading warehouse position of the AGV handling, saving labor costs, and expanding the scope of use of the system by setting up fill lights.
Smart Images
Figure CN222939496U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of storage location state detection, and particularly relates to a visual AGV loading and unloading storage location state detection system. Background Technique
[0002] An AGV refers to an unmanned automated vehicle with automatic guiding devices such as magnetic strips, tracks, or lasers, traveling along a pre-planned path, powered by a battery, and equipped with safety protection and various auxiliary mechanisms including loading and unloading mechanisms and assembly mechanisms, which is widely used in automatic handling such as loading and unloading of machine tools, automated production lines of stamping machines, automatic assembly lines, palletizing and container handling.
[0003] Currently, when an AGV is handling goods, since it is unable to detect the material storage state of the loading and unloading storage location, it is still necessary to manually judge the material storage state of the loading and unloading storage location in order to control the AGV for better handling, which increases the handling cost of the AGV.
[0004] In view of this, a visual AGV loading and unloading storage location state detection system is designed to cooperate with the AGV control system, eliminating the step of manually judging the material storage state of the loading and unloading storage location and reducing the handling cost of the AGV. Content of the Utility Model
[0005] To solve the problems raised in the above background technique. The utility model provides a visual AGV loading and unloading storage location state detection system, which has the characteristics of automatically detecting the state information of the loading and unloading storage location where the AGV can handle goods and saving the labor cost of AGV handling.
[0006] To achieve the above object, the utility model provides the following technical solution: A visual AGV loading and unloading storage location state detection system, comprising: a loading and unloading storage location composed of a plurality of material storage locations and a computer. DM two-dimensional code plates containing storage location definition information are respectively arranged at the four corners of the loading and unloading storage location. Identification plates are arranged in each material storage location of the loading and unloading storage location. A storage rack fixed to the ground is arranged above the loading and unloading storage location. An industrial camera and an image acquisition card are respectively fixed to both sides of the top end of the storage rack. A programmable controller is fixed to the side wall of the storage rack. The industrial camera, the image acquisition card and the programmable controller are electrically connected, the industrial camera and the image acquisition card are electrically connected, and the image acquisition card and the computer are electrically connected.
[0007] Further, the horizontal viewing angle range of the industrial camera in the loading and unloading storage location is 66 - 96°.
[0008] Further, the vertical viewing angle range of the industrial camera in the loading and unloading storage location is 72 - 115°.
[0009] Further, the DM two-dimensional code plates and the identification plates are arranged in the loading and unloading storage location by means of spraying.
[0010] Further, two supplementary light lamps are symmetrically and fixedly connected to the bottom wall at the top of the library rack.
[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows:
[0012] 1. The present utility model collects the DM two-dimensional code of the DM two-dimensional code plate through an industrial camera, transmits it to a computer through an image acquisition card to generate a library location grid map of the loading and unloading library locations, collects the identifiers of each material library location in the loading and unloading library locations through the industrial camera, and transmits them to the computer through the image acquisition card to generate the material storage status information of each material library location, which can realize the automatic detection of the status information of the loading and unloading library locations for AGV handling. Compared with the prior art, it can save the labor cost of AGV handling.
[0013] 2. The present utility model is provided with supplementary light lamps, which can enable the system to be equally applicable to the situation of insufficient daytime light or night, and expand the scope of use of the system. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 is a schematic structural diagram of the present utility model;
[0015] Figure 2 is a schematic diagram of the longitudinal view range of the industrial camera for the loading and unloading library locations of the present utility model;
[0016] Figure 3 is a schematic diagram of the transverse view range of the industrial camera for the loading and unloading library locations of the present utility model;
[0017] In the figure: 1. Library rack; 2. Industrial camera; 3. Computer; 4. Supplementary light lamp; 5. Image acquisition card; 6. DM two-dimensional code plate; 7. Loading and unloading library location; 8. Identification plate; 9. Programmable controller. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0019] Embodiment 1
[0020] Please refer to Figures 1 - 3, the present utility model provides the following technical solutions: A visual AGV loading and unloading bin status detection system, comprising: a loading and unloading bin 7 composed of multiple material bins and a computer 3. Among them, software for generating a bin grid map based on DM two-dimensional codes and software for generating bin information based on identifiers are installed in the computer 3. DM two-dimensional code plates 6 containing bin definition information are respectively arranged at the four corners of the loading and unloading bin 7. An identification plate 8 is arranged in each material bin of the loading and unloading bin 7. A bin rack 1 fixed to the ground is arranged above the loading and unloading bin 7. An industrial camera 2 and an image acquisition card 5 are respectively fixed to both sides of the top end of the bin rack 1. A programmable logic controller 9 is fixed to the side wall of the bin rack 1. The industrial camera 2, the image acquisition card 5 and the programmable logic controller 9 are electrically connected, the industrial camera 2 and the image acquisition card 5 are electrically connected, and the image acquisition card 5 and the computer 3 are electrically connected.
[0021] Specifically, the horizontal viewing angle of the industrial camera 2 in the loading and unloading bin 7 is 66°.
[0022] Specifically, the longitudinal viewing angle range of the industrial camera 2 in the loading and unloading bin 7 is 72°.
[0023] Specifically, the DM two-dimensional code plates 6 and the identification plates 8 are arranged in the loading and unloading bin 7 by means of spraying.
[0024] In this embodiment:
[0025] Before the system detects the material bin status of the loading and unloading bin 7, the industrial camera 2 collects the DM two-dimensional codes on the DM two-dimensional code plates 6 at the four corners of the loading and unloading bin 7 and transmits them to the computer 3 through the image acquisition card 5. The software for generating a bin grid map based on DM two-dimensional codes installed in the computer 3 generates a bin grid map of the loading and unloading bin 7 based on the DM two-dimensional codes and saves it;
[0026] When the system detects the material bin status of the loading and unloading bin 7, the industrial camera 2 continuously collects the material storage status of multiple material bins in the loading and unloading bin 7. If no material is stored in the material bin, the identification plate 8 in the material bin is unobstructed, and the industrial camera 2 can collect the identification in the material bin and transmit it to the computer 3 through the image acquisition card 5. The software for generating bin information based on identifiers installed in the computer 3 generates the position information of the material bin based on the identification in the material bin, and judges that no material is stored in the material bin based on the position information of the material bin and displays it. On the contrary, if material is stored on the material bin, the identification plate 8 in the material bin is blocked, and the industrial camera 2 fails to collect the identification in the material bin, then it is judged that the material bin stores material and displays it. Based on the material storage information of the material bin displayed on the computer 3, in cooperation with the AGV control system, the AGV handling is controlled, eliminating the step of manually judging the material storage status of the loading and unloading bin and reducing the handling cost of the AGV.
[0027] Embodiment Two
[0028] The difference between this embodiment and the first embodiment is as follows:
[0029] Specifically, the horizontal viewing angle of the industrial camera 2 in the loading and unloading bin 7 is 96°.
[0030] Specifically, the vertical viewing angle of the industrial camera 2 in the loading and unloading bin 7 is 115°.
[0031] In this embodiment, the industrial camera 2 can be installed according to the actual situation so that the system can better detect the material storage information of the material bin in the loading and unloading bin 7.
[0032] Embodiment Three
[0033] The difference between this embodiment and the first embodiment is as follows:
[0034] Specifically, two supplementary light lamps 4 are symmetrically and fixedly connected to the bottom wall of the top end of the storage rack 1.
[0035] In this embodiment, the supplementary light lamp 4 can supplement the light source for the shooting of the industrial camera 2, so that the system is applicable to the situation of insufficient daytime light source or at night.
[0036] The industrial camera 2, computer 3, supplementary light lamp 4, image acquisition card 5 and programmable controller 9 in the present utility model are all conventional instruments. Their working principles, dimensions and models have nothing to do with the functions of this application, so no more description will be given. The control mode of the present utility model is controlled by the programmable controller 9 and the computer 3. The control circuit can be realized by simple programming of those skilled in the art. The provision of power supply also belongs to the common knowledge in this field. And the present utility model is mainly used to protect mechanical devices, so the control mode and circuit connection of the present utility model will not be explained in detail anymore.
[0037] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.
Claims
1. A visual AGV loading and unloading storage status detection system, characterized in that: include: A loading and unloading storage location (7) and a computer (3) are formed by a plurality of material storage locations, wherein DM two-dimensional code plates (6) containing storage location definition information are respectively arranged at the four corners of the loading and unloading storage location (7), and an identification plate (8) is arranged in each material storage location of the loading and unloading storage location (7), and a storage rack (1) fixed to the ground is arranged above the loading and unloading storage location (7), and an industrial camera (2) and an image acquisition card (5) are respectively fixed to the top and sides of the storage rack (1), and a programmable controller (9) is fixed to the side wall of the storage rack (1), and the industrial camera (2) and the image acquisition card (5) are electrically connected to the programmable controller (9), the industrial camera (2) and the image acquisition card (5), and the image acquisition card (5) and the computer (3).
2. According to claim 1, a visual AGV loading and unloading storage status detection system is characterized by: The lateral viewing angle range of the industrial camera (2) in the loading and unloading storage location (7) is 66-96°.
3. According to claim 1, a visual AGV loading and unloading storage status detection system is characterized by: The longitudinal viewing angle range of the industrial camera (2) in the loading and unloading storage location (7) is 72-115°.
4. According to claim 1, a visual AGV loading and unloading storage status detection system is characterized by: The DM two-dimensional code plate (6) and the identification plate (8) are arranged in the loading and unloading storage position (7) by spraying.
5. According to claim 1, a visual AGV loading and unloading storage status detection system is characterized by: Two fill-in lights (4) are symmetrically fixedly connected to the top and bottom walls of the storage rack (1).