CN114834916A - Intelligent loading platform system - Google Patents
Intelligent loading platform system Download PDFInfo
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- CN114834916A CN114834916A CN202210484266.2A CN202210484266A CN114834916A CN 114834916 A CN114834916 A CN 114834916A CN 202210484266 A CN202210484266 A CN 202210484266A CN 114834916 A CN114834916 A CN 114834916A
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- 238000012216 screening Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
- B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/22—Horizontal loading or unloading platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Aviation & Aerospace Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to an intelligent loading platform system, and belongs to the technical field of logistics equipment. The stacking system comprises a movable loading platform, a stacking system, a self-walking forklift and a loading platform mounting well; a loading platform mounting well which is higher than the ground is arranged corresponding to the carriage to be loaded with goods, and a loading platform is arranged in the loading platform mounting well; a self-walking forklift is arranged on the loading platform, and a stacking system for stacking goods to be loaded and transferring the goods to the self-walking forklift is arranged on one side of the loading platform; the loading platform is provided with a lifting mechanism, a left-right moving device and a deflection device; a guide rail telescopic mechanism used for extending the guide rail into the carriage is arranged between the self-walking forklift and the loading platform. The automatic loading system for the goods is automatic, fast, safe and reliable; is particularly suitable for loading goods in van vehicles and containers. For traditional goods loading link, loading efficiency is higher, has improved logistics efficiency.
Description
Technical Field
The invention relates to an intelligent loading platform system, and belongs to the technical field of logistics equipment.
Background
At present, the link of goods delivery and loading in the field of warehouse logistics is basically completed by the cooperation of manpower and a forklift. Particularly in the loading link of the box-type vehicle, because the compartment is in a closed structural form, the traditional forklift can not convey goods to the bottom of the box at one time and often needs manual carrying; the manual loading, intensity of labour is big, and is efficient. The conventional forklift is adopted for loading, so that the goods are easy to damage in the carrying process due to irregular goods; the efficiency of the current loading mode is far from reaching the level of high efficiency required by current logistics. The loading speed is low, the efficiency is low, goods are seriously damaged in the loading process, and the traditional loading mode does not conform to the efficient operation mode required by the modern logistics industry, so that the efficiency of the whole logistics process is limited; has become a difficult problem which must be overcome by transferring goods with large tonnage and high efficiency. Therefore, the technical problem of how to automatically, quickly, safely and reliably realize automatic loading of goods is urgently needed to be solved in the technical field.
Disclosure of Invention
The invention aims to solve the technical problem of how to automatically, quickly, safely and reliably load goods.
In order to solve the problems, the technical scheme adopted by the invention is to provide an intelligent loading platform system which is used for conveying goods into a carriage and comprises a movable loading platform, a stacking system, a self-walking forklift and a loading platform mounting well; a loading platform mounting well which is higher than the ground is arranged corresponding to the carriage to be loaded with goods, and a loading platform is arranged in the loading platform mounting well; a self-walking forklift is arranged on the loading platform, and a stacking system for stacking goods to be loaded and transferring the goods to the self-walking forklift is arranged on one side of the loading platform; the loading platform is provided with a lifting mechanism, a left-right moving device and a deflection device; a guide rail telescopic mechanism used for extending the guide rail into the carriage is arranged between the self-walking forklift and the loading platform.
Preferably, the loading platform comprises a lifting frame and a moving platform; a moving platform is arranged on the lifting frame; the lifting frame comprises a top frame above and a bottom frame below, and a lifting mechanism is arranged between the top frame and the bottom frame.
Preferably, a horizontal guide rail perpendicular to the loading direction is arranged on the lifting frame, a moving platform capable of moving left and right is arranged on the horizontal guide rail, and a sliding groove corresponding to the horizontal guide rail is arranged on the lower surface of the moving platform; and a left-right moving device used for moving the mobile platform left and right is arranged on one side of the mobile platform away from the carriage, the left-right moving device is a telescopic mechanism, one end of the telescopic mechanism is fixed on the lifting frame, and the other end of the telescopic mechanism is connected with the mobile platform.
More preferably, a deflection device is arranged between the bottom frame and the side wall of the loading platform installation well; the deflection device is a plurality of telescopic mechanisms, one ends of the telescopic mechanisms are fixed on the side wall of the loading platform installation well, and the other ends of the telescopic mechanisms are movably connected with the lifting frame through joint bearings.
Preferably, a rotating shaft is arranged at one end of the moving platform, which is close to the carriage, along the center line of the moving platform, and the rotating shaft is arranged between the lifting frame and the moving platform; the lower surface of the moving platform is provided with a section of circular arc-shaped protrusion, and the lifting frame is provided with a groove corresponding to the circular arc-shaped protrusion; the circular arc-shaped protrusion is arranged on the circumference line of a virtual circumference taking the rotating shaft as the center of a circle; and a deflection device is arranged on one side of the moving platform, which is far away from the carriage, the deflection device is a telescopic mechanism, one end of the telescopic mechanism is fixed on the lifting frame, and the other end of the telescopic mechanism is connected with the moving platform.
More preferably, a left-right moving device is arranged between the bottom frame and the side wall of the loading platform installation well; the left-right moving device is a plurality of telescopic mechanisms, one ends of the telescopic mechanisms are fixed on the side wall of the loading platform installation well, and the other ends of the telescopic mechanisms are movably connected with the lifting frame through joint bearings.
Preferably, the plurality of telescopic mechanisms are sequentially arranged along the loading direction, and the telescopic direction of the telescopic mechanisms is perpendicular to the loading direction.
Preferably, the self-propelled forklift is provided with a road wheel which moves along the guide rail.
Preferably, a guide rail telescopic mechanism is arranged on the loading platform and comprises a rail laying platform, a driving motor, a gear, a guide rail frame and a guide rail I; a track laying platform is arranged on one side, close to the carriage, of the loading platform, a gap for installing a guide rail is arranged between the track laying platform and the loading platform, a square guide rail frame is hung below the track laying platform, a rack in the loading direction is arranged in the guide rail frame, and first guide rails parallel to the rack are arranged on two sides of the rack; and a driving motor for driving the guide rail frame to move forwards or backwards is arranged on the rail laying platform and is connected with the rack through a gear.
More preferably, a fixed guide rail II for stopping and waiting from the self-walking forklift is arranged on the loading platform; the second guide rail is parallel and adjacent to the first guide rail; the self-walking forklift is provided with walking wheels moving along the first guide rail or the second guide rail, and the walking wheels are provided with grooves respectively corresponding to the first guide rail and the second guide rail.
Preferably, the intelligent loading platform system further comprises a video acquisition system, a vehicle specification judgment system based on machine vision and used for judging vehicles with different specifications and obtaining corresponding vehicle parameters, a vehicle parking in-place judgment system and a license plate number identification system used for matching the information to be loaded with the vehicles; the video acquisition system is respectively connected with the vehicle specification judgment system, the vehicle parking in-place judgment system and the license plate number identification system.
The invention provides a construction method of a vehicle specification judgment system in an intelligent loading platform system, which comprises the steps of establishing appearance parameter data sets of vehicles with various specifications, and carrying out data enhancement to enlarge the number of the data sets; and then carrying out YOLOv3 model training to finally generate a loss curve, selecting corresponding model weights, and constructing a vehicle specification judging system based on machine vision for judging the vehicles to be loaded with different specifications and obtaining a plurality of performance parameters of the corresponding vehicles.
The invention provides a construction method of a vehicle parking in-place judgment system in an intelligent loading platform system, which comprises the steps of constructing a parking space line model, automatically acquiring a vehicle space line in a video frame through Hough transformation, detecting a straight line in a video through Hough LinesP functions in a corresponding OpenCV software library by adopting probability Hough transformation, screening out different straight line sections meeting conditions, and finally constructing a square frame model of a parking space; the method comprises the steps of completing real-time tracking of a moving vehicle to enter a parking space in a video through an image of a contour of the vehicle to be detected, drawing a contour of an external rectangle of the vehicle through a drawing function, and recording coordinate values of 4 vertexes of the rectangle in real time; and judging whether the vehicle is parked in place or not according to the matching degree of the outline of the external rectangle of the vehicle and the square frame model of the parking space.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an automatic loading system for goods, which is automatic, fast, safe and reliable; is particularly suitable for loading goods in van vehicles and containers. Compared with the traditional cargo loading link, the loading process is more intelligent and efficient. The loading platform can be lifted up and down and moved left and right, and the loading direction can be deflected, so that the platform is more convenient to be connected with a truck; the driver is prevented from stopping for many times because the carriage and the platform can not be connected in a straight line, and the parking position is corrected. When goods are shipped, the special forklift capable of advancing to the bottom of the carriage box is adopted, and the goods are loaded from the bottom of the carriage box to the box door, so that the loading process is more convenient and faster. The loading efficiency is higher, has reduced goods loading time, has improved logistics efficiency.
Drawings
FIG. 1 is a first schematic structural diagram of an intelligent loading platform system according to the present invention;
FIG. 2 is a schematic structural diagram of an intelligent loading platform system according to the present invention;
FIG. 3 is a third schematic structural diagram of an intelligent loading platform system according to the present invention;
FIG. 4 is a schematic diagram of a vehicle parking in place determination system according to the present invention;
FIG. 5 is a simplified flow chart of the vehicle in-place determination system of the present invention;
reference numerals: 1. loading a platform; 2. a stacking system; 3. a self-propelled forklift; 4. a loading platform mounting well; 5. a guide rail telescoping mechanism; 6. a lifting frame; 7. a mobile platform; 8. a deflection device; 9. a track laying platform; 10. a first guide rail; 11. and a second guide rail.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings:
as shown in fig. 1-5, the technical scheme adopted by the invention is to provide an intelligent loading platform system, which is used for conveying goods into a carriage and comprises a movable loading platform 1, a stacking system 2, a self-walking forklift 3 and a loading platform installation well 4; a loading platform installation well 4 which is higher than the ground is arranged corresponding to the carriage of the goods to be loaded, and a loading platform 1 is arranged in the loading platform installation well 4; the loading platform 1 is provided with a self-walking forklift 3, and one side of the loading platform 1 is provided with a stacking system 2 for stacking goods to be loaded and then transferring the goods to the self-walking forklift 3; the loading platform 1 is provided with a lifting mechanism, a left-right moving device and a deflection device; a guide rail telescopic mechanism 5 used for extending the guide rail into the carriage is arranged between the self-walking forklift 3 and the loading platform 1. The loading platform 1 comprises a lifting frame 6 and a moving platform 7; a moving platform 7 is erected on the lifting frame 6; the lifting frame 6 comprises a top frame and a bottom frame, wherein the top frame is arranged above the bottom frame, and a lifting mechanism is arranged between the top frame and the bottom frame.
In one embodiment, a horizontal linear guide rail perpendicular to the loading direction is arranged on the lifting frame 6, a movable platform 7 capable of moving left and right is arranged on the horizontal guide rail, and a sliding groove corresponding to the horizontal guide rail is arranged on the lower surface of the movable platform 7; a left-right moving device used for moving the moving platform 7 left and right is arranged on one side, away from the carriage, of the moving platform 7, the left-right moving device is a telescopic mechanism, one end of the telescopic mechanism is fixed on the lifting frame 6, and the other end of the telescopic mechanism is connected with the moving platform 7. When the telescopic mechanism performs telescopic motion, the mobile platform 7 is pulled, and the purpose of moving the mobile platform 7 left and right is achieved by moving the mobile platform 7 on the horizontal linear guide rail; in the embodiment, a deflection device is arranged between the bottom frame and the side wall of the loading platform installation well 4; the deflection device is a plurality of telescopic mechanisms, one ends of the telescopic mechanisms are fixed on the side wall of the loading platform installation well 4, and the other ends of the telescopic mechanisms are movably connected with the lifting frame 6 through joint bearings. By adjusting the movement distance of the plurality of telescopic mechanisms, one end of the lifting frame 6 close to the carriage is adjusted to move leftwards or rightwards, so that the aim of deflecting the loading direction is fulfilled.
In another embodiment, the moving platform 7 is provided with a rotating shaft at one end close to the carriage along the center line of the moving platform, and the rotating shaft is arranged between the lifting frame 6 and the moving platform 7; the lower surface of the movable platform 7 is provided with a section of circular arc-shaped protrusion, and the lifting frame 6 is provided with a groove corresponding to the circular arc-shaped protrusion; the circular arc-shaped protrusion is arranged on the circumference line of a virtual circumference taking the rotating shaft as the center of a circle; one side of the moving platform 7, which is far away from the carriage, is provided with a deflection device 8, the deflection device 8 is a telescopic mechanism, one end of the telescopic mechanism is fixed on the lifting frame 6, and the other end of the telescopic mechanism is connected with the moving platform 7. When the telescopic mechanism is started, the moving platform 7 is pulled, the moving platform 7 rotates around the rotating shaft, and one end, close to the carriage, of the moving platform 7 is adjusted to deflect leftwards or rightwards, so that the purpose of deflecting the loading direction is achieved; in this embodiment, a left-right moving device is arranged between the bottom frame and the side wall of the loading platform installation well 4; the left-right moving device is a plurality of telescopic mechanisms, one ends of the telescopic mechanisms are fixed on the side wall of the loading platform installing well 4, and the other ends of the telescopic mechanisms are movably connected with the lifting frame 6 through joint bearings. The lifting frame 6 is adjusted to move leftwards or rightwards by adjusting the movement distance of the plurality of telescopic mechanisms, so that the aim of moving the loading platform leftwards and rightwards is fulfilled. The plurality of telescopic mechanisms are sequentially arranged along the loading direction, and the telescopic direction of the telescopic mechanisms is perpendicular to the loading direction.
The self-walking forklift 3 is provided with walking wheels moving along the guide rails. The loading platform 1 is provided with a guide rail telescopic mechanism 5, and the guide rail telescopic mechanism 5 comprises a rail laying platform 9, a driving motor, a gear, a guide rail frame and a guide rail I10; a rail laying platform 9 is arranged on one side, close to the carriage, of the loading platform 1, a gap for mounting a first guide rail 10 is formed between the rail laying platform 9 and the loading platform 1, a square guide rail frame is hung below the rail laying platform 9, a rack in the loading direction is arranged in the guide rail frame, and first guide rails 10 parallel to the rack are arranged on two sides of the rack; the track laying platform 9 is provided with a driving motor for driving the guide rail frame to move forwards or backwards, and the driving motor is connected with the rack through a gear; the loading platform 1 is provided with a fixed guide rail II 11 for the self-walking forklift 3 to stay and wait; the second guide rail 11 is adjacent to the first guide rail 10 in parallel; the self-walking forklift 3 is provided with walking wheels moving along the first guide rail 10 or the second guide rail 11, and the walking wheels are provided with grooves corresponding to the first guide rail 10 and the second guide rail 11 respectively.
The intelligent loading platform system provided by the invention further comprises a video acquisition system, a vehicle specification judgment system based on machine vision, a vehicle parking in-place judgment system and a license plate number identification system, wherein the vehicle specification judgment system is used for judging vehicles with different specifications and obtaining corresponding vehicle parameters; the video acquisition system is respectively connected with the vehicle specification judgment system, the vehicle parking in-place judgment system and the license plate number identification system.
The construction method of the vehicle specification judging system comprises the steps of establishing appearance parameter data sets of vehicles with various specifications, and carrying out data enhancement to enlarge the number of the data sets; and then carrying out YOLOv3 model training to finally generate a loss curve, selecting corresponding model weights, and constructing a vehicle specification judging system based on machine vision for judging the vehicles to be loaded with different specifications and obtaining a plurality of performance parameters of the corresponding vehicles.
The construction method of the vehicle parking in-place judgment system comprises the steps of constructing a parking space line model, automatically obtaining a vehicle position line in a video frame through Hough transformation, detecting a straight line in a video through Hough transformation by adopting probability Hough transformation according to a Hough LinesP function in an OpenCV software library, screening out different straight line sections meeting conditions, and finally constructing a parking space block model; the method comprises the steps of completing real-time tracking of a moving vehicle to enter a parking space in a video through an image of a contour of the vehicle to be detected, drawing a contour of an external rectangle of the vehicle through a drawing function, and recording coordinate values of 4 vertexes of the rectangle in real time; and judging whether the vehicle is parked in place or not according to the matching degree of the outline of the external rectangle of the vehicle and the square frame model of the parking space.
Examples
As shown in fig. 1-3; the invention provides an intelligent loading platform system which is used for conveying goods into a carriage and comprises a movable loading platform 1, a stacking system 2, a self-walking forklift 3 and a loading platform mounting well 4; a loading operation high platform higher than the ground is built in a cargo loading area, the height of the loading operation high platform is approximately equal to that of a boxcar carriage, and a loading platform installation well 4 which is concave to the ground is arranged on the loading operation high platform; the loading platform installation well 4 is internally provided with a loading platform 1; the self-walking forklift 3 is arranged on the loading platform 1, and a stacking system 2 for transferring goods to be loaded to the self-walking forklift 3 after stacking is arranged on a loading operation high platform on one side of the loading platform 1.
The loading platform 1 is provided with a lifting mechanism, a left-right moving device and a deflection device; the loading platform 1 comprises a lifting frame 6 and a moving platform 7 on the lifting frame 6; the lifting frame 6 comprises an upper top frame and a lower bottom frame; be equipped with the lift lead screw between top frame and the underframe, through lift lead screw elevating movement, the vertical distance between top frame and the underframe changes to finally lead to the change of position about the moving platform 7, thereby make loading platform and carriage height as high as possible.
A rotating shaft is arranged at one end of the moving platform 7 close to the carriage along the center line of the moving platform 7, and the rotating shaft is arranged between the lifting frame 6 and the moving platform 7; the lower surface of the movable platform 7 is provided with a section of circular arc-shaped protrusion, and the lifting frame 6 is provided with a groove corresponding to the circular arc-shaped protrusion; the circular arc-shaped protrusion is arranged on the circumference line of a virtual circumference taking the rotating shaft as the center of a circle; one side of the moving platform 7, which is far away from the carriage, is provided with a deflection device 8, the deflection device 8 is a telescopic oil cylinder, one end of the telescopic oil cylinder is fixed on the lifting frame 6, and the other end of the telescopic oil cylinder is connected with the moving platform 7. When the telescopic oil cylinder stretches, the moving platform 7 is pulled, the moving platform 7 rotates around the rotating shaft, and one end, close to the carriage, of the moving platform 7 is adjusted to deflect leftwards or rightwards, so that the purpose of deflecting the loading direction is achieved;
a left-right moving device is arranged between the bottom frame and the side wall of the loading platform installation well 4; the left-right moving device is a plurality of telescopic oil cylinders, one ends of the telescopic oil cylinders are fixed on the side wall of the loading platform installation well 4, and the other ends of the telescopic oil cylinders are movably connected with the lifting frame 6 through joint bearings. The lifting frame 6 is adjusted to move leftwards or rightwards by adjusting the telescopic movement distance of the plurality of telescopic oil cylinders, so that the aim of moving the loading platform leftwards and rightwards is fulfilled. The plurality of telescopic oil cylinders are sequentially arranged along the loading direction, and the telescopic direction of the telescopic oil cylinders is perpendicular to the loading direction.
When the central axis of the carriage is not on the same straight line with the central axis of the movable platform 7, namely the loading direction is not on the same straight line with the central axis of the carriage; can change moving platform 7 towards the direction in carriage through deflector 8, through the flexible distance of adjustment telescopic cylinder during specific operation, pull moving platform 7 and rotate around the rotation axis to reach the purpose of deflection loading direction.
The self-walking forklift 3 is provided with a power source and walking wheels moving along the guide rails. And a guide rail telescoping mechanism 5 for extending the guide rail I10 into the carriage is arranged between the self-walking forklift 3 and the moving platform 7. A guide rail telescoping mechanism 5 is arranged on one side, close to the carriage, of the moving platform 7, and the guide rail telescoping mechanism 5 comprises a suspended track laying platform, a driving motor, a gear, a guide rail frame and a guide rail I10; a fixed suspended rail laying platform 9 is arranged on one side, close to the carriage, of the moving platform 7, a gap for a first guide rail 10 to move back and forth is formed between the rail laying platform 9 and the moving platform 7, a square guide rail frame is hung below the rail laying platform 9 and is almost tightly attached to the upper surface of the moving platform 7, a rack is arranged in the guide rail frame along the loading direction, and first guide rails 10 parallel to the rack are arranged on two sides of the rack; the track laying platform 9 is provided with a driving motor for driving the guide rail frame to move forwards or backwards, and the driving motor is connected with the rack through a gear. When the guide rail bracket is driven by the gear to extend to the carriage, the first guide rail 10 also extends to the carriage.
A second fixed guide rail 11 for the self-walking forklift 3 to stay and wait is arranged on the moving platform 7; the second guide rail 11 is parallel to and adjacent to the first guide rail 10, and the horizontal height of the upper surface of the second guide rail 11 is higher than that of the upper surface of the first guide rail 10. The self-walking forklift 3 is provided with walking wheels capable of moving along the first guide rail 10 or the second guide rail 11, and the peripheries of the walking wheels are provided with parallel circular grooves corresponding to the first guide rail 10 and the second guide rail 11 respectively.
The intelligent loading platform system provided by the invention further comprises a video acquisition system, a vehicle specification judgment system based on machine vision, a vehicle parking in-place judgment system and a license plate number identification system, wherein the vehicle specification judgment system is used for judging vehicles with different specifications and obtaining corresponding vehicle parameters; the video acquisition system is respectively connected with the vehicle specification judgment system, the vehicle parking in-place judgment system and the license plate number identification system.
In one embodiment, a machine vision based refrigerated vehicle specification determination system is configured to:
based on the different models of the refrigerated vehicles used by different companies, two types of refrigerated vehicles are common: large-scale refrigerator car and small-size refrigerator car, the vehicle specification based on vision system judges the flow and includes:
1. the type of the refrigerated vehicle is judged through the target detection network, the used algorithm model is YOLOv3, and the model is high in detection speed and high in accuracy.
The YOLOv3 model training needs to use a large number of data sets as a basis, and data enhancement is performed to expand the number of the data sets after the data sets are obtained from the network; the common conditions include horizontal turning, color intensity change, brightness change, noise addition and the like;
3. and carrying out YOLOv3 model training on the basis of the second step, finally selecting corresponding model weights according to the generated loss curve to carry out effect testing, and judging vehicles with different specifications, wherein the vehicles with different specifications can be related to vehicle parameters, such as tonnage, length, width and the like of the vehicle.
As shown in fig. 4 to 5, the vehicle parking place determination system is configured in the embodiment:
the vehicle is normally parked, and subsequent loading and unloading are facilitated. Therefore, the invention provides a vehicle line pressing detection method based on a monitoring video, which is used for standardizing the vehicle parking problem and realizing intelligent warning of vehicle illegal line pressing. The camera is placed at the top of the warehouse in a use scene, and real-time shooting is carried out from top to bottom.
The vehicle parking in-place judgment system comprises the following steps of establishing a parking space line model: and adopting Hough transformation to automatically acquire the vehicle-line in the video frame. In general, any straight line in a video image can be represented by y ═ kx + b in a planar rectangular coordinate system (x-y). Similarly, any point on the straight line y in the rectangular coordinate system corresponds to a straight line in the parameter plane (k-b); conversely, any point in the parameter plane will correspond to a straight line in the image. Therefore, Hough transformation is carried out on all pixel points in the frame image, and the point with the most crossed straight lines in the parameter plane is detected. The detected points are arranged densely and regularly, and the parking space line to be detected can be obtained.
The most basic hough transform has the problem that a plurality of straight lines can be detected at the same position and the straight lines are misjudged. Therefore, a probabilistic Hough transform is employed to detect straight lines in the video. The process corresponding to the HoughLinesP function in the OpenCV software library is as follows: randomly acquiring a foreground point of the edge part of an image, and mapping the foreground point to a polar coordinate system; finding out the intersection point of the minimum vote number in the polar coordinate system by adopting a voting algorithm, and finding out the straight line corresponding to the rectangular coordinate system; thirdly, continuously searching the marginal foreground points; and fourthly, repeating the steps.
According to the steps, different linear sections meeting the conditions can be screened out, and finally, a square frame model representing the parking space is constructed.
According to Hough conversion, a parking space area and a parking space line can be defined in the video. At the moment, a key frame of the video is selected to perform frame difference operation to establish a background model, and a vehicle which is pre-entering a parking space is identified by combining a frame difference method and a background difference method in the later time. And removing irrelevant information in the video frame through morphological processing modes such as median filtering, corrosion, expansion and the like to obtain a binary image only with the outline of the vehicle to be detected, thereby completing real-time tracking of the moving vehicle in the video. At the moment, the outline of the external rectangle of the vehicle is drawn through a drawing function, and the coordinate values of the 4 vertex points of the rectangle are recorded in real time, so that data preparation is made for the next vehicle line ball analysis. According to the video output by the camera, storing one frame of image for image processing, extracting the parking line position represented by a square frame A ABCD, then extracting the truck represented by a square frame B ABCD, then judging whether the two boxes are intersected or not, if so, sending a signal for reminding the truck of irregular parking, and if not, parking the truck according to the standard.
As shown in fig. 4, a quadrangle ABCD is the identified parking space area, and ABCD denotes a vehicle circumscribed rectangle. Through the above series of processing, the coordinate values of the 4 vertices of ABCD and ABCD can be easily obtained. When the vehicle normally parks, the moving vehicle enters a specified parking area, the area formed by the ABCD vertexes comprises four vertexes ABCD, otherwise, the vehicle is judged to be possibly in a line pressing state; the vehicle parking in-place judgment system sends a signal to remind a driver to park again until the vehicle is accurately parked in the parking space.
The application process of the invention is as follows:
s1, a container vehicle enters a parking lot, a video acquisition system of an intelligent loading platform system acquires a video image of the vehicle, the license plate number identification system is compared with a license plate number which is input in advance in the system to determine whether the vehicle is a vehicle to be loaded, meanwhile, the intelligent loading platform system judges whether various performance parameters of the vehicle meet loading conditions or not according to the acquired video image of the vehicle and a vehicle specification judgment system, and the vehicle is guided to enter a region to be loaded if the performance parameters meet the loading conditions and are matched with the license plate number which is input in advance;
the container vehicle moves to a cargo loading area, the central axis of the carriage and the central axis of the movable platform 7 are approximately aligned to start parking; meanwhile, the vehicle parking in-place judgment system tracks and guides the vehicle to park in the parking space in real time until the vehicle stops at the correct position;
s2, starting the platform lifting mechanism to enable the height of the mobile platform 7 to be approximately consistent with the height of the carriage bottom plate; starting the left-right moving device to enable the central line of the forklift to be approximately consistent with the central line of the carriage; the deflecting means 8 is activated so that the centre line of the truck is substantially in line with the centre line of the car.
And S3, opening the guide rail telescopic mechanism 5 to enable the first guide rail 10 to extend into the carriage, and adjusting the loading direction again through the platform lifting mechanism, the left-right moving device and the deflection device 8 according to the distance between the first guide rail 10 and the carriage wall.
And S4, stopping the self-walking forklift 3 on the second guide rail 11 fixed on the moving platform 7 at the moment, and loading the goods to be loaded on the forklift.
S5, after the forklift is loaded, the forklift moves towards the carriage along the second guide rail 11, naturally transits to the first guide rail 10 from the second guide rail 11 through the double-groove type traveling wheels of the forklift, then enters the carriage along the first guide rail 10, and unloads goods at the bottommost part of the carriage;
s6, the forklift goes out of the carriage along the first guide rail 10, naturally transitions from the first guide rail 10 to the second guide rail 11 through double-groove type walking wheels of the forklift, and enters a waiting loading link again;
s7, judging whether a part of the first guide rail 10 needs to be retracted or not according to the distance from the first guide rail 10 to the carriage; so as to avoid the interference of the first guide rail 10 with the next forklift unloading; if the retraction is needed, the partial guide rails one 10 are retracted, and the steps 4-7 are repeated until the carriage is full.
While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.
Claims (13)
1. An intelligent loading platform system is used for delivering goods into a carriage and is characterized by comprising a movable loading platform, a stacking system, a self-walking forklift and a loading platform mounting well; a loading platform mounting well which is higher than the ground is arranged corresponding to the carriage to be loaded with goods, and a loading platform is arranged in the loading platform mounting well; a self-walking forklift is arranged on the loading platform, and a stacking system for stacking goods to be loaded and transferring the goods to the self-walking forklift is arranged on one side of the loading platform; the loading platform is provided with a lifting mechanism, a left-right moving device and a deflection device; a guide rail telescopic mechanism used for extending the guide rail into the carriage is arranged between the self-walking forklift and the loading platform.
2. The intelligent loading platform system of claim 1, wherein the loading platform comprises a lifting frame and a moving platform; a moving platform is arranged on the lifting frame; the lifting frame comprises a top frame above and a bottom frame below, and a lifting mechanism is arranged between the top frame and the bottom frame.
3. The intelligent loading platform system according to claim 2, wherein a horizontal guide rail perpendicular to the loading direction is arranged on the lifting frame, a moving platform capable of moving left and right is arranged on the horizontal guide rail, and a sliding groove corresponding to the horizontal guide rail is arranged on the lower surface of the moving platform; and a left-right moving device used for moving the mobile platform left and right is arranged on one side of the mobile platform away from the carriage, the left-right moving device is a telescopic mechanism, one end of the telescopic mechanism is fixed on the lifting frame, and the other end of the telescopic mechanism is connected with the mobile platform.
4. An intelligent loading platform system according to claim 3, wherein a deflection device is arranged between the bottom frame and the side wall of the loading platform installation well; the deflection device is a plurality of telescopic mechanisms, one ends of the telescopic mechanisms are fixed on the side wall of the loading platform installation well, and the other ends of the telescopic mechanisms are movably connected with the lifting frame through joint bearings.
5. The intelligent loading platform system of claim 2, wherein the mobile platform is provided with a rotating shaft at one end close to the carriage along the center line of the mobile platform, and the rotating shaft is arranged between the lifting frame and the mobile platform; the lower surface of the moving platform is provided with a section of circular arc-shaped protrusion, and the lifting frame is provided with a groove corresponding to the circular arc-shaped protrusion; the circular arc-shaped protrusion is arranged on the circumference line of a virtual circumference taking the rotating shaft as the center of a circle; and a deflection device is arranged on one side of the moving platform, which is far away from the carriage, the deflection device is a telescopic mechanism, one end of the telescopic mechanism is fixed on the lifting frame, and the other end of the telescopic mechanism is connected with the moving platform.
6. An intelligent loading platform system according to claim 5, wherein a left-right moving device is arranged between the bottom frame and the side wall of the loading platform installation well; the left-right moving device is a plurality of telescopic mechanisms, one ends of the telescopic mechanisms are fixed on the side wall of the loading platform installation well, and the other ends of the telescopic mechanisms are movably connected with the lifting frame through joint bearings.
7. The intelligent loading platform system according to any one of claims 4 and 6, wherein the plurality of telescopic mechanisms are arranged in sequence along a loading direction, and the telescopic direction of the telescopic mechanisms is perpendicular to the loading direction.
8. An intelligent loading platform system according to claim 1, wherein the self-propelled forklift is provided with a road wheel which moves along a guide rail.
9. The intelligent loading platform system according to claim 1, wherein a guide rail telescoping mechanism is arranged on the loading platform, and comprises a rail laying platform, a driving motor, a gear, a guide rail frame and a first guide rail; a track laying platform is arranged on one side, close to the carriage, of the loading platform, a gap for installing a guide rail is arranged between the track laying platform and the loading platform, a square guide rail frame is hung below the track laying platform, a rack in the loading direction is arranged in the guide rail frame, and first guide rails parallel to the rack are arranged on two sides of the rack; and a driving motor for driving the guide rail frame to move forwards or backwards is arranged on the rail laying platform and is connected with the rack through a gear.
10. The intelligent loading platform system according to claim 9, wherein a second fixed guide rail for stopping and waiting from a self-propelled forklift is arranged on the loading platform; the second guide rail is parallel and adjacent to the first guide rail; the self-walking forklift is provided with walking wheels moving along the first guide rail or the second guide rail, and the walking wheels are provided with grooves respectively corresponding to the first guide rail and the second guide rail.
11. The intelligent loading platform system according to claim 1, further comprising a video acquisition system, a machine vision-based vehicle specification judgment system for judging vehicles of different specifications and obtaining corresponding vehicle parameters, a vehicle parking in place judgment system, and a license plate number identification system for matching the information to be loaded with the vehicle; the video acquisition system is respectively connected with the vehicle specification judgment system, the vehicle parking in-place judgment system and the license plate number identification system.
12. The method for constructing the vehicle specification judging system in the intelligent loading platform system according to the claim 11, which is characterized by comprising the steps of establishing appearance parameter data sets of vehicles with various specifications, and performing data enhancement to expand the number of the data sets; and then carrying out YOLOv3 model training to finally generate a loss curve, selecting corresponding model weights, and constructing a vehicle specification judging system based on machine vision for judging the vehicles to be loaded with different specifications and obtaining a plurality of performance parameters of the corresponding vehicles.
13. The method for constructing the system for judging whether the vehicle is parked in place in the intelligent loading platform system according to claim 11 is characterized by comprising the steps of constructing a parking space line model, automatically obtaining a parking space line in a video frame through Hough transformation, detecting a straight line in a video through Hough transformation by adopting probability Hough transformation according to a Hough LinesP function in an OpenCV software library, screening out different straight line sections meeting conditions, and finally constructing a square frame model of a parking space; the method comprises the steps of completing real-time tracking of a moving vehicle to enter a parking space in a video through an image of a contour of the vehicle to be detected, drawing a contour of an external rectangle of the vehicle through a drawing function, and recording coordinate values of 4 vertexes of the rectangle in real time; and judging whether the vehicle is parked in place or not according to the matching degree of the outline of the external rectangle of the vehicle and the square frame model of the parking space.
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