CN109697594A - Full-automatic unmanned driving cable disc warehousing system - Google Patents
Full-automatic unmanned driving cable disc warehousing system Download PDFInfo
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Abstract
The present invention relates to full-automatic unmanned driving cable disc warehousing systems, are used for cable disc warehousing management, including handling system, running control system, Warehouse Management System, communication system and central server；Handling system includes data label identification device, for the data label in storage, outbound on identification cable disc, is sent to Warehouse Management System；Running control system includes crane device, three-dimensional laser scanner and car-mounted terminal；Three-dimensional laser scanner obtains the 3-D image of haulage vehicle and cable disc, and central server is based on 3-D image and positions cable disc, is sent to car-mounted terminal, and control traveling crane fills cable disc；Warehouse Management System includes storage data library；The corresponding goods yard data of storing data label, data label in storage data library；Storage data library lifts progress according to the cable disc of running control system and updates goods yard data.Storage efficiency can be improved in system of the invention；Cost of labor is reduced, intelligentized growth requirement of storing in a warehouse is adapted to.
Description
Technical field
The present invention relates to full-automatic unmanned driving cable disc warehousing systems.
Background technique
The existing storing in stockyard outside grid company warehouse room money type is analyzed, the line for fitting through driving handling is compared
Cable class goods and materials are broadly divided into suspended insulated guide wire, steel strand wires, lv power cable and four kinds of power cable, and four kinds of cables use
Cable disk storage.During thermoacoustic prime engine cramp assembling and disassembling cable disc, the prior art mostly passes through video monitoring combination manpower behaviour
It completes.But it has been difficult to meet intelligentized growth requirement of storing in a warehouse in the efficiency of manual operation, to realize the full-automatic of driving
Change control, it is desirable to provide a kind of full-automatic unmanned driving cable disc warehousing system.
Summary of the invention
The purpose of the present invention is to provide full-automatic unmanned driving cable disc warehousing systems.
To realize the above-mentioned technical purpose, the present invention adopts the following technical scheme:
A kind of full-automatic unmanned driving cable disc warehousing system, is used for cable disc warehousing management, including handling system, thermoacoustic prime engine
System, Warehouse Management System, communication system and central server；
The handling system includes data label identification device；Data label identification device identification line in storage, outbound
Data label on cable disk, is sent to Warehouse Management System；
The running control system includes crane device, camera apparatus, three-dimensional laser scanner and car-mounted terminal；It is described three-dimensional sharp
Photoscanner obtains the 3-D image of haulage vehicle and cable disc, the image and three-dimensional that central server is obtained based on camera apparatus
The 3-D image that laser scanner obtains positions cable disc, is sent to car-mounted terminal, and control traveling crane fills cable disc；
The Warehouse Management System includes storage data library；Storing data label, data label are corresponding in the storage data library
Goods yard data；Storage data library lifts progress according to the cable disc of running control system and updates goods yard data；
System control of the central server for handling system, running control system, Warehouse Management System；
The communication system between each system and central server for communicating.
Further, the storage control flow of the full-automatic unmanned driving cable disc warehousing system are as follows:
Central server sends inbound task, and data label identification device scans haulage vehicle along path, obtains each cable disc
Data label is simultaneously sent to Warehouse Management System；
After Warehouse Management System obtains data label, running control system control crane device is successively lifted cable disc to specified
Goods yard, Warehouse Management System update the corresponding goods yard information of fetched data label；
The outbound control flow of the full-automatic unmanned driving cable disc warehousing system are as follows:
Central server sends outbound task, and sending includes data label in information；
Warehouse Management System obtains goods yard information according to data label, and is sent to running control system；
Running control system control driving suspender successively lifts cable disc to outbound mouth, and Warehouse Management System updates goods yard letter
Breath completes outbound.
Further, the data label identification device scan path is as follows:
For the cable disc laterally put, data label identification device detours one week along haulage vehicle, identifies the data of cable disc
Label；
For the cable disc put in a crisscross manner, the cable disc path that data label identification device is first transversely put is mobile, it
The cable disc path put along longitudinal direction afterwards is mobile, identifies the data label of cable disc.
Further, the parameter information of cable, including cable model, length, weight, the supply of material are stored in the data label
Manufacturer's information；After data label identification device identifies data label, the parameter information for including by data label is stored to storage number
According to library.
Further, central server sends inbound task, generates inbound task list；
Warehouse Management System carries out shedding cargo based on the data tag information that inbound task list and data label recognizer are sent
Bit allocation, comprising: carry out goods yard distribution in order, goods yard distribution is carried out by unified model progress goods yard distribution, by order batch,
Goods yard distribution or user-specified rule distribution are carried out by cable attribute Program Priority.
Further, the storage data library of the Warehouse Management System further includes warehouse three-dimensional space model；Warehouse is three-dimensional
Space division is carried out according to ranks height in spatial model, behavior driving driving direction is classified as driving suspender moving direction, is highly
Cable presets the number of plies；Space is maximum cable dimensions plus driving suspender working space between every row and column；It is divided in space
Ranks eminence is arranged three-dimensional space and identifies, i.e. the high coordinate of ranks；Space divides each unit obtained and is corresponding in turn to as warehousing management
Goods yard in system.
Further, positioning device is set on the car-mounted terminal, obtains the real-time position information of crane device in real time, and
The Overlapping display in warehouse three-dimensional space model.
Further, the running control system further includes monitoring device；The warehouse three-dimensional space model is superimposed to prison
Control the display interface of device.
Further, the crane device includes driving, suspender and fixture；Encoder is installed, on fixture on the suspender
Gravity sensor is installed；The Data Concurrent that car-mounted terminal receives encoder, gravity sensor is sent is sent to warehouse management system, is obtained
Spreader height information and load-carrying data are taken, cable disc is carried out and makes an inventory.
Further, positioning device is set on the car-mounted terminal, is passed based on location information, spreader height information and gravity
The load-carrying data of sensor carry out the cable disc lifting implementation progress judgement of running control system, and process is as follows:
S10. the load-carrying data of car-mounted terminal comparison gravity sensor live load data and previous moment, if load becomes
Change, jumps S40, otherwise jump S20；
S20. it is judged whether there is based on spreader height information and slings or hang lower movement, if it is not, based on car-mounted terminal
Positioning device obtain road location information, carry out walking direction；
S30. task matching is carried out then to calculate driving if there is matched storage or outbound task and answer direction of advance, and the side of update
To prompt, end judges process；Otherwise S60 is jumped；
S40. it is judged whether there is based on spreader height information and slings or hang lower movement, if there is slinging or hanging lower movement, then
Carry out vehicling operation judgement；
S50. task matching is carried out, if there is matched storage or outbound task, then changes job execution state, more new job is aobvious
Show, and upload vehicling operation, end judges process；Otherwise S60 is jumped；
S60. terminate.
Further, three-dimensional figure of the central server based on the camera apparatus image obtained and three-dimensional laser scanner acquisition
It is as follows as the step of positioning cable disc:
S100. the cable disc overall situation video for obtaining camera apparatus acquisition, sets cable disc image privileged site feature, passes through searching
Meet the mode of the cable disc image privileged site feature of definition in cable disc overall situation video to carry out coarse positioning, obtains cable disc
Rough position；
S200. at the rough position for scanning cable disc by three-dimensional laser scanner, point cloud data is obtained；Point cloud data is carried out
Plane segmentation, is divided into planar set and non-planar collection for point set；
S300. priori knowledge is utilized, screening from the result that plane is divided based on RanSaC algorithm may be comprising the potential of cable
Planar set: fitting the sideline of plane two sides by RanSaC algorithm, calculates its width, if its width and cable itself width
Difference have exceeded certain range, then it is assumed that it is uncorrelated plane, obtains potential planar set after rejecting uncorrelated plane；
S400. the highest plane of matching degree in potential planar set, coordinate, that is, cable disc three are obtained based on sleiding form matching
Tie up coordinate；
S500. the three-dimensional coordinate of cable disc is fed back into control system, control system guide drives to corresponding position, drives a vehicle
Hoisting fixture drops to corresponding height；
S600. obtain camera apparatus acquisition cable disc local video, identification cable disk center can crawl position, by driving lift by crane
Fixture be moved to can crawl position, complete cable disc lifting.
Storage efficiency can be improved in system of the invention；To store 18 disk diameter 250cm, the wide 140cm lv power cable of disk
For, existing driving memory module need to set up pedestrian passage, it is assumed that channel width 90cm, then 18 disk lv power cables need heap altogether
Scene accumulates 90 ㎡.Using driving system of the invention, Distance Shortened stores same amount of low to 30cm between two rows of cable discs
Piezoelectric forces cable only need to provide the outdoor stockyard of 72 ㎡, save 20% storage space, greatly promote the storage of electric power storehouse raw material
Efficiency；Full automatic storage outbound management, reduces cost of labor, while also reducing manually-operated risk and labour by force
Degree；Adapt to intelligentized growth requirement of storing in a warehouse.
Detailed description of the invention
Fig. 1 is present system software architecture schematic diagram；
Fig. 2 is present invention storage planning three-dimensional space mark schematic diagram；
Fig. 3 is present invention storage flow chart；
Fig. 4 is outbound flow chart of the present invention；
Fig. 5 is implementation progress decision flow chart of the present invention；
Fig. 6 is crane device structural schematic diagram of the present invention；
Fig. 7 is present clip plane schematic view of the front view；
Fig. 8 is present clip side structure schematic view；
Fig. 9 is present clip schematic perspective view；
Figure 10 is the flow chart of point cloud data plane segmentation of the present invention；
Figure 11 is the matched flow chart of sleiding form of the present invention.
Specific embodiment
Explanation and specific embodiment are further elaborated technical solution of the present invention with reference to the accompanying drawing.
Embodiment 1
This example demonstrates that the overall structure of present system, operational process.
Full-automatic unmanned driving cable disc warehousing system as shown in Figure 1, including handling system, running control system, storehouse
Store up management system, communication system and central server；
The handling system includes data label identification device；Data label identification device identification line in storage, outbound
Data label on cable disk, is sent to Warehouse Management System；
The running control system includes crane device, camera apparatus, three-dimensional laser scanner, monitoring device and car-mounted terminal；
Camera apparatus includes global camera and local camera, and crane device includes driving, suspender and fixture；Coding is installed on the suspender
Device installs gravity sensor on fixture；The Data Concurrent that car-mounted terminal receives encoder, gravity sensor is sent is sent to warehouse pipe
Reason system obtains spreader height information and load-carrying data, carries out cable disc and makes an inventory.Specifically in example 2 to thermoacoustic prime engine system
The partial device structures of system are illustrated.Three-dimensional laser scanner obtain haulage vehicle and cable disc 3-D image, in it is genuinely convinced
Business device positions cable disc based on the 3-D image of the camera apparatus image obtained and three-dimensional laser scanner acquisition, is sent to vehicle-mounted
Terminal, control traveling crane fill cable disc；
The Warehouse Management System includes storage data library；Storing data label, data label are corresponding in the storage data library
Goods yard data, warehouse three-dimensional space model；Storage data library lifts progress according to the cable disc of running control system and updates goods
Position data；
System control of the central server for handling system, running control system, Warehouse Management System；
The communication system between each system and central server for communicating.
System flow is as follows:
(1) warehouse is planned；
As shown in Fig. 2, establishing warehouse three-dimensional space mould in storage data library to efficiently use the space of inventory to greatest extent
Type carries out three-dimensional space mark.In warehouse three-dimensional space model according to ranks height carry out space division, behavior drive a vehicle driving direction,
It is classified as driving suspender moving direction, highly presets the number of plies for cable；Space is maximum cable dimensions plus row between every row and column
Vehicle suspender working space；It is identified in the ranks eminence setting three-dimensional space that space divides, i.e. the high coordinate of ranks；Space, which divides, to be obtained
Each unit be corresponding in turn to as the goods yard in Warehouse Management System.
Monitoring interface is set, shows that the shooting picture of global camera is used as monitoring, and three-dimensional in monitoring interface superposition warehouse
Spatial model, convenient for the whole storage stacking state of clear viewing；
The positioning device on car-mounted terminal obtains the real-time position information of crane device in real time simultaneously, and in warehouse three-dimensional space mould
Overlapping display in type makes monitoring interface dynamic show vehicling operation analog case, drive a vehicle current operating conditions, location information；
(2) it is put in storage；It is as shown in Figure 3 to be put in storage process；
Central server sends inbound task, generates inbound task list；
Warehouse Management System carries out shedding cargo based on the data tag information that inbound task list and data label recognizer are sent
Bit allocation, comprising: carry out goods yard distribution in order, goods yard distribution is carried out by unified model progress goods yard distribution, by order batch,
Goods yard distribution or user-specified rule distribution are carried out by cable attribute Program Priority.
Data label identification device scans haulage vehicle along path, obtains the data label of each cable disc and is sent to storage
Management system；
Wherein, data label identification device scan path is as follows:
For the cable disc laterally put, data label identification device detours one week along haulage vehicle, identifies the data of cable disc
Label；
For the cable disc put in a crisscross manner, the cable disc path that data label identification device is first transversely put is mobile, it
The cable disc path put along longitudinal direction afterwards is mobile, identifies the data label of cable disc.
The parameter information of cable, including cable model, length, weight, supply vendor's information are stored in data label；Data
After label recognizer identifies data label, the parameter information for including by data label is stored to storage data library.
Warehouse Management System obtain data label after, running control system control crane device cable disc is successively lifted to
Specified goods yard, Warehouse Management System update the corresponding goods yard information of fetched data label；
(3) outbound；Outbound process is as shown in Figure 4；
Central server sends outbound task, generates outbound job order；Sending includes data label in information；
Warehouse Management System obtains goods yard information according to data label, and is sent to running control system；
Running control system control driving suspender successively lifts cable disc to outbound mouth, and Warehouse Management System updates goods yard letter
Breath completes outbound.
Storage, outbound therebetween, location information, spreader height information and gravity sensor based on car-mounted terminal positioning device
Load-carrying data carry out the cable disc lifting implementation progress judgement of running control system, process is as shown in Figure 5:
S10. the load-carrying data of car-mounted terminal comparison gravity sensor live load data and previous moment, if load becomes
Change, jumps S40, otherwise jump S20；
S20. it is judged whether there is based on spreader height information and slings or hang lower movement, if it is not, based on car-mounted terminal
Positioning device obtain road location information, carry out walking direction；
S30. task matching is carried out then to calculate driving if there is matched storage or outbound task and answer direction of advance, and the side of update
To prompt, end judges process；Otherwise S60 is jumped；
S40. it is judged whether there is based on spreader height information and slings or hang lower movement, if there is slinging or hanging lower movement, then
Carry out vehicling operation judgement；
S50. it carries out task matching and then changes job execution state, more new job if there is matched storage or outbound task
It has been shown that, and vehicling operation is uploaded, end judges process；Otherwise S60 is jumped；
S60. terminate.
Embodiment 2
The present embodiment illustrates the crane device designed in the exemplary running control system of the present invention；
For the exemplary running control system of the present invention as shown in Fig. 6-Fig. 9, Fig. 6 is 100 structural schematic diagram of crane device, including row
Vehicle, suspender and fixture；Single-beam gate-type electric hoist crane is selected in driving, and electric block is using four rope structure for deploying and retracting；Suspender
Top is slidably connected with driving crossbeam, slides along crossbeam, suspender bottom end jockey.
Fig. 7 ~ Fig. 9 is the clamp structure schematic diagram of driving, and the fixture is bilateral symmetry, including fixed arm 2, rotation
Arm 1, the horizontal arm 3 of 2 two sides of fixed arm, upright arm, clamping arm 5 and stand-off 6；Fixed arm 2 is horizontal structure, 2 middle section of fixed arm
Upper end vertically connects rotating arm 1, and hole 11 is provided at the top of rotating arm 1, is used for connecting shackle；2 both ends horizontal of fixed arm extends, and passes through
Gearshift 31 connects the horizontal arm 3, is displaced in the horizontal direction in horizontal arm 3 by gearshift；The connection of 3 end of horizontal arm
Upright arm, upright arm include upright arm upper section 41 and upright arm lower section 42, are passed through between upright arm upper section 41 and upright arm lower section 42
Telescopic device 43 connects, and upright arm is made vertically to stretch；
The composition of gearshift 31 includes gear, sliding rail, the first connector and motor；Cavity is equipped in fixed arm 2 and horizontal arm 3,
Gear, sliding rail, the first connector and motor are set in cavity, the first connector connection gear, fixed arm 2 and horizontal arm 3, warp
Motor-driven gear rotation drives horizontal arm along sliding rail horizontal movement.
Telescopic device composition includes gear, sliding rail, the second connector and motor；Upright arm upper section 41 and upright arm lower section 42
Junction is equipped with cavity, and gear, sliding rail, the second connector and motor be set in cavity, the second connector connection gear, vertical
Arm upper section 41 and upright arm lower section 42 rotate through motor-driven gear and upright arm lower section are driven to move vertically along sliding rail.
Upright arm end connect clamping arm 5, as shown in fig. 7, clamping arm 5 be in hollow out three-legged structure, horizontal connection stand-off 6,
For lifting cable disc 9, as shown in fig. 7, lifting site is below cable disc outer ring, stand-off 6 is rounded structure.
1 two sides of rotating arm are equipped with gravity sensor 12.Gravity sensor 12 is connected with rotating arm 1, hangs carrying out cable disc
Record, it can be achieved that cable disc weight is filled while operation, control device reads the weight information that gravity sensor 12 returns,
Current suspension hook weight data is obtained, after passing background system back, compared with the weight information of last registration, is checked whether wrong
Difference, and then make an inventory.Laser-correlation device 51, when fixture drops to cable or less height, laser are equipped on the inside of clamping arm 5
Stopped to penetrating by cable, can be used for making an inventory for cable disc.
It is accurately positioned to realize, the crossbeam middle section lower end of driving is equipped with three-dimensional laser scanner 7 and first camera 8, fixture
There are three camera, 2 middle section lower ends of fixed arm to be equipped with second camera 21 for upper setting, carries out Global localization, guide clamp to cable disc
It is moved to above cable disc.Third camera 44 is equipped on the inside of upright arm, during fixture decline, be arranged on the upright arm of two sides the
Three cameras 44 obtain the position of cable plate edge, can indicate fixture according to symmetric case of the two sides cable plate edge in field of vision
Mobile direction, further finely positioning.Clamping arm 5 and 6 junction of stand-off are equipped with the 4th camera 61,61 line of observation of the 4th camera
The side circular arc of cable disk disk determines the mobile direction of fixture according to the relative position of circular arc and clamping arm 5, further fine fixed
Position.
Stand-off 6 and 5 bottom two corners of triangular clip folded arm are to be flexibly connected, and put down and pack up by motor control stand-off 6, can
Solve the problems, such as that intermediate distance is small when cable lay out in parallel.
Embodiment 3
The process of running control system control crane device lifting cable disc when the present embodiment illustrates storage, outbound；This reality
The crane device structure of embodiment 2 is subject in the process statement for applying example.
S100. the cable disc overall situation video that first camera 8 acquires is obtained, cable disc image privileged site feature is set, leads to
The mode for the cable disc image privileged site feature for meeting definition in searching cable disc overall situation video is crossed to carry out coarse positioning, is obtained
The rough position of cable disc；Wherein, when first camera 21 is shot, driving hoisting fixture is moved to edge far from first camera
Place；
S200. at the rough position for scanning cable disc by three-dimensional laser scanner 7, point cloud data is obtained；To point cloud data into
The segmentation of row plane, is divided into planar set and non-planar collection for point set；
The step of point cloud segmentation, is specifically as shown in Figure 10:
S201. a cloud is divided into child window according to the neighbouring relations at cloud midpoint；
S202. plane and non-planar two class are divided into according to the 3D shape of child window Point Set, are partitioned into and have classified a little
Collection, is separately added into planar set P and non-planar collection；
S203. the seed that the child window that flatness is best in undivided part increases as region is chosen；
S204. region growth is carried out based on the seed that region increases, extracts plane domain R；
S205. the point in R is labeled as having divided；
S206. the points in R are counted, if points are greater than threshold value t, planar set P is added in R, non-planar collection is otherwise added；
S207. S203 ~ S206 is repeated, until segmentation finishes.
S300. priori knowledge is utilized, screening from the result that plane is divided based on RanSaC algorithm may be comprising cable
Potential planar set: fitting the sideline of plane two sides by RanSaC algorithm, calculates its width, if its width and cable itself
The difference of width has exceeded certain range, then it is assumed that it is uncorrelated plane, obtains potential planar set after rejecting uncorrelated plane；
S400. the highest plane of matching degree in potential planar set, coordinate, that is, cable disc three are obtained based on sleiding form matching
Tie up coordinate；
Shiding matching step is specifically as shown in figure 11:
S401. the 1st plane is read from potential planar set；
S402. by plane from the grid that three-dimensional space projects to two-dimensional space；The side length of grid is 1cm；
S403. projection plane is matched using sleiding form；
S404. if matching degree is greater than given threshold value, three-dimensional space will be returned with the Grid Projection of template matching, saves its seat
Mark；
S405. S402 ~ S404 is repeated, until the plane treatment in all potential planar sets finishes.
S500. the three-dimensional coordinate of cable disc being fed back into control system, control system guide drives to corresponding position,
Driving hoisting fixture drops to corresponding height；
S600. the cable disc local video that second camera 21, third camera 44, the 4th camera 61 acquire is obtained, identifies cable disc
Center can crawl position, will driving hoisting fixture be moved to can crawl position, complete cable disc 9 lift by crane.
Claims (11)
1. a kind of full-automatic unmanned driving cable disc warehousing system, which is characterized in that be used for cable disc warehousing management, including handling
System, running control system, Warehouse Management System, communication system and central server；
The handling system includes data label identification device；Data label identification device identification line in storage, outbound
Data label on cable disk, is sent to Warehouse Management System；
The running control system includes crane device, camera apparatus, three-dimensional laser scanner and car-mounted terminal；It is described three-dimensional sharp
Photoscanner obtains the 3-D image of haulage vehicle and cable disc, the image and three-dimensional that central server is obtained based on camera apparatus
The 3-D image that laser scanner obtains positions cable disc, is sent to car-mounted terminal, and control traveling crane fills cable disc；
The Warehouse Management System includes storage data library；Storing data label, data label are corresponding in the storage data library
Goods yard data；Storage data library lifts progress according to the cable disc of running control system and updates goods yard data；
System control of the central server for handling system, running control system, Warehouse Management System；
The communication system between each system and central server for communicating.
The driving system 2. a kind of full-automatic unmanned cable disc according to claim 1 is stored in a warehouse, which is characterized in that
The storage control flow of the full-automatic unmanned driving cable disc warehousing system are as follows:
Central server sends inbound task, and data label identification device scans haulage vehicle along path, obtains each cable disc
Data label is simultaneously sent to Warehouse Management System；
After Warehouse Management System obtains data label, running control system control crane device is successively lifted cable disc to specified
Goods yard, Warehouse Management System update the corresponding goods yard information of fetched data label；
The outbound control flow of the full-automatic unmanned driving cable disc warehousing system are as follows:
Central server sends outbound task, and sending includes data label in information；
Warehouse Management System obtains goods yard information according to data label, and is sent to running control system；
Running control system control crane device successively lifts cable disc to outbound mouth, and Warehouse Management System updates goods yard letter
Breath completes outbound.
The driving system 3. a kind of full-automatic unmanned cable disc according to claim 1 is stored in a warehouse, which is characterized in that the data
Label recognizer scan path is as follows:
For the cable disc laterally put, data label identification device detours one week along haulage vehicle, identifies the data of cable disc
Label；
For the cable disc put in a crisscross manner, the cable disc path that data label identification device is first transversely put is mobile, it
The cable disc path put along longitudinal direction afterwards is mobile, identifies the data label of cable disc.
The driving system 4. a kind of full-automatic unmanned cable disc according to claim 1 or 2 is stored in a warehouse, which is characterized in that described
The parameter information of cable, including cable model, length, weight, supply vendor's information are stored in data label；Data label identification
After device identifies data label, the parameter information for including by data label is stored to storage data library.
The driving system 5. a kind of full-automatic unmanned cable disc according to claim 2 or 4 is stored in a warehouse, which is characterized in that center
Server sends inbound task, generates inbound task list；
Warehouse Management System carries out shedding cargo based on the data tag information that inbound task list and data label recognizer are sent
Bit allocation, comprising: carry out goods yard distribution in order, goods yard distribution is carried out by unified model progress goods yard distribution, by order batch,
Goods yard distribution or user-specified rule distribution are carried out by cable attribute Program Priority.
The driving system 6. a kind of full-automatic unmanned cable disc according to claim 1 is stored in a warehouse, which is characterized in that the storage
The storage data library of management system further includes warehouse three-dimensional space model；Sky is carried out according to ranks height in warehouse three-dimensional space model
Between divide, behavior drive a vehicle driving direction, be classified as driving suspender moving direction, highly preset the number of plies for cable；Between every row and column
Space is maximum cable dimensions plus driving suspender working space；It is identified in the ranks eminence setting three-dimensional space that space divides,
That is the high coordinate of ranks；Space divides each unit obtained and is corresponding in turn to as the goods yard in Warehouse Management System.
The driving system 7. a kind of full-automatic unmanned cable disc according to claim 6 is stored in a warehouse, which is characterized in that described vehicle-mounted
Positioning device is set in terminal, obtains the real-time position information of crane device, and the Overlapping display in warehouse three-dimensional space model.
The driving system 8. a kind of full-automatic unmanned cable disc according to claim 6 is stored in a warehouse, which is characterized in that further include,
The warehouse three-dimensional space model is superimposed to the display interface of camera apparatus.
The driving system 9. a kind of full-automatic unmanned cable disc according to claim 1 is stored in a warehouse, which is characterized in that the driving
Device includes driving, suspender and fixture；Encoder is installed on the suspender, gravity sensor is installed on fixture；Car-mounted terminal connects
The Data Concurrent that receipts encoder, gravity sensor are sent is sent to warehouse management system, obtains spreader height information and load-carrying data,
Cable disc is carried out to make an inventory.
The driving system 10. a kind of full-automatic unmanned cable disc according to claim 9 is stored in a warehouse, which is characterized in that the vehicle
Positioning device is set on mounted terminal, and the load-carrying data based on location information, spreader height information and gravity sensor are driven a vehicle
The cable disc lifting implementation progress judgement of control system, process are as follows:
S10. the load-carrying data of car-mounted terminal comparison gravity sensor live load data and previous moment, if load becomes
Change, jumps S40, otherwise jump S20；
S20. it is judged whether there is based on spreader height information and slings or hang lower movement, if it is not, based on car-mounted terminal
Positioning device obtain road location information, carry out walking direction；
S30. task matching is carried out then to calculate driving if there is matched storage or outbound task and answer direction of advance, and the side of update
To prompt, end judges process；Otherwise S60 is jumped；
S40. it is judged whether there is based on spreader height information and slings or hang lower movement, if there is slinging or hanging lower movement, then
Carry out vehicling operation judgement；
S50. task matching is carried out, if there is matched storage or outbound task, then changes job execution state, more new job is aobvious
Show, and upload vehicling operation, end judges process；Otherwise S60 is jumped；
S60. terminate.
The driving system 11. a kind of full-automatic unmanned cable disc according to claim 1 is stored in a warehouse, which is characterized in that in it is genuinely convinced
The step of business device positions cable disc based on the 3-D image of the camera apparatus image obtained and three-dimensional laser scanner acquisition is as follows:
S100. the cable disc overall situation video for obtaining camera apparatus acquisition, sets cable disc image privileged site feature, passes through searching
Meet the mode of the cable disc image privileged site feature of definition in cable disc overall situation video to carry out coarse positioning, obtains cable disc
Rough position；
S200. at the rough position for scanning cable disc by three-dimensional laser scanner, point cloud data is obtained；Point cloud data is carried out
Plane segmentation, is divided into planar set and non-planar collection for point set；
S300. priori knowledge is utilized, screening from the result that plane is divided based on RanSaC algorithm may be comprising the potential of cable
Planar set: fitting the sideline of plane two sides by RanSaC algorithm, calculates its width, if its width and cable itself width
Difference have exceeded certain range, then it is assumed that it is uncorrelated plane, obtains potential planar set after rejecting uncorrelated plane；
S400. the highest plane of matching degree in potential planar set, coordinate, that is, cable disc three are obtained based on sleiding form matching
Tie up coordinate；
S500. the three-dimensional coordinate of cable disc is fed back into control system, control system guide drives to corresponding position, drives a vehicle
Hoisting fixture drops to corresponding height；
S600. obtain camera apparatus acquisition cable disc local video, identification cable disk center can crawl position, by driving lift by crane
Fixture be moved to can crawl position, complete cable disc lifting.
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