CN208856543U - A kind of industry loading vehicles positioning device - Google Patents

Abstract

The utility model discloses a kind of industrial loading vehicles positioning devices, for obtaining the car position information for being parked in the loading vehicles of load station, including first laser testing agency, second laser testing agency, mobile platform and controller, wherein the first laser testing agency is used to obtain the first distance data of railroad car lateral wall, second testing agency is installed on mobile platform, the second laser testing agency enters the second distance data that the compartment obtains compartment inner wall by mobile platform, the controller waits for the location information in loading vehicles compartment according to first distance data and second distance data acquisition, the autonomous positioning of any parked vehicles may be implemented, and it is not influenced by external environment variation, it can assist to load the efficient loading operation of robot realization.

Description

A kind of industry loading vehicles positioning device

Technical field

The utility model relates to intelligent plant technical field more particularly to a kind of industrial loading vehicles positioning device and sides Method.

Background technique

In all types of industries enterprise, it is often necessary to be packed into all kinds of materials in the loading vehicles compartment of transport cargo, at present Most enterprises carry out the loading of product or cargo still by the way of artificial, and this mode is fairly simple, not by extraneous ring The influence of border factor, flexibility is big, but this mode often needed for personnel are more, need to continuously repeat operation, large labor intensity And work is dry as dust, is unable to satisfy the demand that industrial automation quickly produces.

And transfer robot is the industrial robot that can carry out automated handling operation.Earliest transfer robot occurs In the U.S. of nineteen sixty, Versatran and Unimate Liang Zhong robot is used for transport operation for the first time.Refer to use when transport operation A kind of equipment gripping workpiece, refers to from a Working position and moves on to another Working position.Transfer robot is mountable different End effector is worked with the workpiece handling for completing various different shapes and state, significantly reduces the heavy physical strength labor of the mankind It is dynamic.The transfer robot used in the world exceedes 100,000, be widely used in lathe loading and unloading, press machine automatic production line, The automatic transporting of automatic assembly line, Palletised carry, container etc..Systems in Certain Developed Countries has made manual handling most Limits, what is gone beyond the limit must be completed by transfer robot.

With the continuous renewal and development of transfer robot, manufacturing enterprise gradually utilizes transfer robot to replace part artificial Operation is carried out, but transfer robot can only realize the movement of point-to-point, therefore to the position accuracy demand of carrying height, each work Industry loading vehicles require accurately to stop at this location very much, if early docking process appearance position deviation, and conveying robot People is still according to set instruction works, then loading process will cause to make mistakes, to influence entire efficiency of loading.But in reality Under the working environment on border, since the length, width and height of loading vehicles are diversified in specifications, and since vehicle is artificially to park, park every time Position be also it is random, often there is the relatively large deviation in position or angle in stand, such transfer robot can not obtain Accurate loading space location information is taken, reliable automatic loading operation can not be carried out.

Meanwhile some prior arts cooperate machine vision also by transfer robot, to complete loading task.Utilize machine Vision technique carries out the operation of Image Acquisition, outline etc. to industrial loading vehicles, obtains the accurate location of loading vehicles, Acquired position is quite reliable.But machine vision technique, what is utilized is the relevant technologies of image, and the size in compartment Different and camera the visual field is larger, will reduce the quality of acquisition image in this way, realizes to the high precision collecting of image more tired Difficulty, and easily influenced by external environment, it is higher in the identification fault rate that many and diverse place of this kind of background of factory occurs, it is unfavorable In entire efficiency of loading.

Utility model content

The utility model aiming at the shortcomings in the prior art, provides a kind of industrial loading vehicles positioning device, for obtaining Take the information such as car position information and the compartment length, width and height for the loading vehicles for being parked in load station, including first laser detection machine Structure, second laser testing agency, mobile platform and controller, wherein the first laser testing agency is for obtaining railroad car lateral wall First distance data, second testing agency is installed on mobile platform, and the second laser testing agency passes through movement Platform enter the compartment obtain compartment inner wall second distance data, the controller according to first distance data and second away from From information such as location information and the compartment length, width and height that data acquisition waits for loading vehicles compartment.

Preferably, the industrial loading vehicles positioning device further includes third laser detection mechanism, the third laser inspection Survey mechanism include be set in mobile platform at least one Laser emission direction is perpendicular to horizontal plane and downward laser ranging is set It is standby, for obtaining the third range data of car bottom.

Preferably, the second laser testing agency includes at least four Laser Distance Measuring Equipment, and 4 laser rangings are set Standby Laser emission axis is in same level and Laser emission direction is arranged in cross, for obtaining the of compartment inner wall Two range data.

Preferably, the mobile platform is the planer-type mobile station being installed in load station, the planer-type mobile station Including walking beam, the elevating lever being mounted on walking beam and it is mounted on detecting for installing second laser for elevating lever bottom end The mounting structure of mechanism, the mounting structure are the enclosure space equipped with laser channeling.

Preferably, mounting platform is provided in the mounting structure, the mounting platform surrounding is provided with horizontal ledge, institute 4 Laser Distance Measuring Equipments for stating second laser testing agency are respectively arranged in above the horizontal ledge, the third laser inspection The Laser Distance Measuring Equipment for surveying mechanism is installed below the mounting platform.

Preferably, it is provided with adjustment hole below the horizontal ledge, connection top laser ranging is equipped in the adjustment hole The regulating part of equipment can drive Laser Distance Measuring Equipment to horizontally rotate by the regulating part.

Preferably, the first laser testing agency includes the Laser Distance Measuring Equipment that at least two is in same level, institute The Laser emission direction for stating first laser testing agency is used to obtain the first distance data of railroad car lateral wall, institute towards load station State the gradient in controller loading vehicles compartment according to the first distance data acquisition.

Preferably, crossbeam is connected in the middle part of two support column of mobile platform side, the first laser testing agency is solid Loaded on the crossbeam, the first laser testing agency is two Laser Distance Measuring Equipments for being in same level, institute for Dingan County The spacing for stating two Laser Distance Measuring Equipments is less than car length.

Preferably, parking instruction band is provided in the load station, for identifying vehicle stand.

The utility model is demarcated with transfer robot to the same space coordinate system by increasing laser detection mechanism, and by it In, it is then measured from different directions by multiple laser detection mechanisms respectively, obtains the position coordinates of respective point, and most The position coordinates of 4 angle points, the deviation angle of vehicle and loading for making controller obtain loading vehicles compartment inner wall eventually are high Degree, each transfer robot can be loaded operation according to the space coordinate of vehicle compartment when carrying out transport operation, can be with The fault rate of loading is substantially reduced, while the stability of laser detection mechanism is high, is not influenced by external environment transformation, guarantee dress Load process it is accurate and reliable, avoid the accidents such as collision that cargo and compartment in handling process occurs.

The additional aspect and advantage of the utility model will be set forth in part in the description, partially will be from following description In become obvious, or recognized by the practice of the utility model.

Detailed description of the invention

Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application, The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model It limits.In the accompanying drawings:

Fig. 1 is the disclosed Load System rod structure using industrial loading vehicles positioning device of an embodiment of the present invention Schematic diagram.

Fig. 2 is industry loading vehicles positioning device structure schematic diagram disclosed in an embodiment of the present invention.

Fig. 3 is lifting rod structure schematic diagram disclosed in an embodiment of the present invention.

Fig. 4 is control circuit schematic diagram disclosed in an embodiment of the present invention.

Fig. 5 is the structural schematic diagram of mounting structure disclosed in an embodiment of the present invention.

Fig. 6 is the structural schematic diagram of mounting structure disclosed in another embodiment of the utility model.

Fig. 7 is the structural schematic diagram of mounting structure disclosed in another embodiment of the utility model.

Specific embodiment

It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer The technical solution of the utility model embodiment is clearly and completely described in the attached drawing of type embodiment.Obviously, described Embodiment is a part of the embodiment of the utility model, instead of all the embodiments.Based on described the utility model Embodiment, those of ordinary skill in the art's every other embodiment obtained under the premise of being not necessarily to creative work, all belongs to In the range of the utility model protection.

In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood as the case may be Concrete meaning in the present invention.

In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or it "lower" may include that the first and second features directly contact, and also may include that the first and second features are not direct contacts but lead to Cross the other characterisation contact between them.Moreover, fisrt feature includes above the second feature " above ", " above " and " above " One feature is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.First is special Sign is directly below and diagonally below the second feature including fisrt feature under the second feature " below ", " below " and " below ", or only Indicate that first feature horizontal height is less than second feature.

Unless otherwise defined, the technical term or scientific term used herein is should be in the utility model fields The ordinary meaning that personage with general technical ability is understood.Make in the utility model patent application specification and claims " first ", " second " and similar word are not offered as any sequence, quantity or importance, and are used only to distinguish Different component parts.Equally, the similar word such as "one" or " one " does not indicate that quantity limits yet, but indicates exist at least One.

Attached drawing 1 is a kind of industrial automation Load System disclosed in embodiment, the loading work including being mounted on loading vehicles Industrial loading vehicles positioning device 1 on position, the transfer robot 3 for loading cargo and the conveyer belt 4 for transmitting cargo.Work as dress When load automobile enters its load station, the industry loading vehicles positioning device 1, which can be detected, determines that its interior is specifically empty Between position, and be sent to 3 controller of transfer robot, only accurately obtain the vehicle to loading vehicles in vehicle locating device 1 Inside compartment behind exact position, the carrying that transfer robot could carry out cargo according to the specific exact position in compartment load without The collision in cargo and compartment and cargo stack chaotic problem in handling process.Specifically, attached drawing 2 and 3 discloses for the present embodiment A kind of specific industrial loading vehicles positioning device 1, including first laser testing agency 11, second laser testing agency 12, Mobile platform and controller 14, wherein the first laser testing agency is used to obtain the first distance data of railroad car lateral wall, institute It states the second testing agency to be installed on mobile platform, the second laser testing agency enters the compartment by mobile platform and obtains The second distance data of pick-up compartment inner wall, the controller wait for load wagon according to first distance data and second distance data acquisition The location information in compartment.It is demarcated with transfer robot to the same space coordinate system by increasing laser detection mechanism, and by it In, it is then measured from different directions by multiple laser detection mechanisms respectively, obtains the position coordinates of respective point and right The equation answered, and finally make the offset of the position coordinates, vehicle of 4 angle points of controller acquisition loading vehicles compartment inner wall Angle and loading height, each transfer robot when carrying out transport operation, can according to the space coordinate of vehicle compartment into Row loading operation can substantially reduce the fault rate of loading, while the stability of laser detection mechanism is high, is not become by external environment The influence changed, accuracy is high, guarantees the accurate and reliable of loading process, avoids that cargo and the collision in compartment etc. in handling process occurs Accident.

Wherein, as shown in attached drawing 3 and attached drawing 4, the mobile platform is the planer-type movement being installed in load station Platform, the load station are rectangular area, and the planer-type mobile station includes walking beam 132, the lifting that is mounted on walking beam Bar 133, and it is mounted on the mounting structure 134 for being used to install second laser testing agency of elevating lever bottom end, the installation knot Structure 134 is the enclosure space equipped with laser channeling 1341.Specifically, the mounting structure 134 can be a seal box, in institute State seal box all around and bottom is provided with through-hole, the laser emitted for laser detection mechanism passes through, in through-hole Place is closed with cloche, for dust-proof, anticollision and convenient for cleaning.The controller 14 is by the first servo circuit 136 Send track 131 of the control signal controling stepping motor driving walking beam 132 on the two sides crossbeam of the planer-type mobile station It is moved.The elevating lever 133 can also be under the stepper motor driving that the second servo circuit 137 controls along walking beam 132 Sliding rail up and down and move left and right.

In some embodiments, the second laser testing agency includes at least four Laser Distance Measuring Equipment, and described 4 are swashed The Laser emission axis of ligh-ranging equipment is in same level and Laser emission direction is arranged in cross, for obtaining compartment The second distance data of inner wall.The second distance data include the Laser Distance Measuring Equipment that each Laser Distance Measuring Equipment obtains The distance of illuminated laser spot on to compartment inner wall.Specifically, as depicted in figures 5 and 6, being provided with peace in the mounting structure 134 Assembling platform 1342,1342 surrounding of mounting platform are provided with horizontal ledge 1343, and 4 of the second laser testing agency swash Ligh-ranging equipment is respectively arranged in 1343 top of the horizontal ledge, the Laser emission direction of 4 Laser Distance Measuring Equipments court respectively Four orientation in left and right forwards, backwards.It is provided with adjustment hole 1344 below the horizontal ledge 1343, is equipped in the adjustment hole 1344 The regulating part of connection top Laser Distance Measuring Equipment, can drive Laser Distance Measuring Equipment to horizontally rotate, Ke Yifang by the regulating part Just staff is adjusted the Laser emission direction of the Laser Distance Measuring Equipment, avoids in loading process to Laser Measuring The acquisition precision of subsequent ranging data is influenced away from the offset of transmission transmission optical path after equipment collision.In other embodiments In, the regulating part being arranged below the horizontal ledge includes the first gear connecting with Laser Distance Measuring Equipment lower section, and setting Rotating disc 1346 below mounting platform, the rotating disc are connected with second gear 1345, the first gear and the second tooth Wheel engagement, staff can drive the second gear to rotate by rotation rotating disc, so as to corresponding Laser Measuring Rotation away from equipment, so that the fine tuning to Laser Distance Measuring Equipment is realized, so that its optical axis and adjacent Laser Distance Measuring Equipment optical axis Between keep vertical, to guarantee the accurate of follow-up location measurement.In further embodiments, the second gear has 2, Respective first time gear below 2 Laser Distance Measuring Equipments of the face setting is engaged with the same second gear, is turned The progress launch angle adjusting of collinear laser equipment can be located to two optical axises simultaneously by moving the second gear, so that The optical axis of two laser equipments is always positioned at same straight line, easy to adjust.

In some embodiments, the industrial loading vehicles positioning device further includes third laser detection mechanism, and described the Three laser detection mechanisms include at least one Laser emission direction for being set in mobile platform perpendicular to horizontal plane and downward swash Ligh-ranging equipment, for obtaining the third range data of car bottom, wherein the third range data is from the third Laser detection mechanism to car bottom illuminated laser spot range data.Specifically, the laser of the third laser detection mechanism Distance-measuring equipment is installed below the mounting platform, and the third laser detection mechanism can be vertical for 1 Laser emission direction In horizontal plane and downward Laser Distance Measuring Equipment, described Laser Distance Measuring Equipment is mountable to the lower section of mounting platform 1342, Also it is mountable to the lower section of rotating disc 1346, Laser emission direction is straight down.In other preferred embodiments, the installation The lower part of platform 1342 is provided with movable support platform, and the movable support platform includes universal adjustment part, and the universal adjustment part can Think that the laser ranging of third laser detection mechanism is set so that the connection angle between movable support platform and mounting platform arbitrarily changes It is standby to be installed below movable support platform, by movable support platform, staff can be convenient to third laser detection mechanism The optical axis direction of Laser Distance Measuring Equipment is finely adjusted, and guarantees that it is in vertically downward direction always, to guarantee subsequent compartment Location information accuracy.

In some preferred embodiments, the first laser testing agency includes that at least two is in swashing for same level Ligh-ranging equipment 11,11 ', the Laser emission direction of the first laser testing agency is towards load station for obtaining cabin side The first distance data of wall, the gradient in controller loading vehicles compartment according to the first distance data acquisition. Specifically, 2 laser measuring equipments are fixed on external fixed bracket, projecting direction is directed toward compartment, the fixation The mounting surface of bracket is parallel to the side edge for loading parking stall.In another embodiment, the mobile platform side two supports It is connected with crossbeam in the middle part of column, the Laser Distance Measuring Equipment 11,11 ' is fixedly installed on the crossbeam, described two laser rangings The spacing of equipment 11 and 11 ' is less than car length.The two laser measuring equipment mounting distances of this first laser testing agency It can be adjusted according to the size in compartment, only need to meet its incident point and be respectively positioned on the same side plane in compartment, incident point Closer to the edge in compartment, the data of acquisition are more accurate for position, therefore can be adjusted according to the actual situation, utilize described two A laser measuring equipment can form incident point on the same side plane of loading vehicles respectively, utilize the principle of laser ranging Corresponding coordinate points can be obtained respectively, and the tilt angle that can obtain loading vehicles compartment is calculated by controller.

In some embodiments, the industrial loading vehicles positioning device further includes the parking being set in load station Indicate band 135, vehicle drivers can indicate stop described certainly with the substantially stand for judging vehicle according to the parking Vehicle instruction band setting parking position detector, such as infrared sensor or pressure sensor etc., for sensing the position of vehicle, into And can trigger mobile platform and the start-up operation of each laser detection mechanism, the precision of the stand of vehicle is further increased, and mention The treatment effeciency of high positioning device.

By using industrial loading vehicles positioning device described in foregoing embodiments, can obtain described positioned at loading work The inner space location information to loading vehicles compartment on position.When carrying out vehicle cargo loading, vehicle is driven into correspondence by driver At the parking instruction band of load station, since there are certain parking errors, it is therefore desirable to determine its position coordinates and deflection Angle.Controller is ginseng with the plane where 2 laser measuring equipments of the first laser testing agency on external fixed bracket Plane is examined, and sets space coordinates Oxyz at the center in load station region, wherein Oxy plane is overlapped with reference planes, the side z To being straight down positive direction, and meet the right-hand rule.Relevant mobile platform is controlled by controller, when loading vehicles are driven into After commitment positions, second and third testing agency moved from initial position along preset path and setting space coordinates Oxyz origin just At top position, the origin of space coordinates is then set along z-axis positive direction moving movement, makes that first and dual-laser detection are installed The origin of the 0xyz of the geometric center and space coordinates of the mounting platform of mechanism is overlapped, and is made each in laser detection mechanism The projecting direction of a laser measuring equipment is each parallel to corresponding reference axis, and controller is by setting each laser measurement The measurement and analysis of standby ranging data, can finally obtain the position coordinates of 4 angle points in loading vehicles compartment, vehicle it is inclined Move angle and loading height.After to vehicle location, by controlling relevant mechanical device, entire laser measuring equipment is first It is first moved up along z-axis negative direction, and returns to initial position along path original route, vehicle location next time is waited to operate.

By at least seven laser measuring equipment, it is demarcated with transfer robot into the same space coordinate system, is then divided It does not measure from different directions, obtains the position coordinates and corresponding equation of loading vehicles compartment respective point, and final Obtain the position coordinates of 4 angle points, the deviation angle of vehicle and the loading height in loading vehicles compartment, each transfer robot When carrying out transport operation, it can be loaded operation according to the space coordinate of vehicle compartment, the fault of loading can be substantially reduced Rate, while the stability of laser measuring equipment is high, is not influenced by external environment transformation, guarantees the accuracy of vehicle loading process With reliability.

Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations； Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc. With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution The range of scheme.

In short, the above is only the preferred embodiment of the present invention, it is all according to present utility model application the scope of the patents institute The equivalent changes and modifications of work should all belong to the covering scope of the utility model patent.

Claims (9)

1. a kind of industry loading vehicles positioning device, the car position for obtaining the loading vehicles for being parked in load station is believed Breath, it is characterised in that: including first laser testing agency, second laser testing agency, mobile platform and controller, wherein described First laser testing agency is used to obtain the first distance data of railroad car lateral wall, and the second laser testing agency is installed on movement On platform, the second laser testing agency enters the second distance number that the compartment obtains compartment inner wall by mobile platform According to the controller waits for the location information in loading vehicles compartment according to first distance data and second distance data acquisition.

2. industry loading vehicles positioning device according to claim 1, it is characterised in that: further include third laser detection machine Structure, the third laser detection mechanism include at least one Laser emission direction for being set in mobile platform perpendicular to horizontal plane And downward Laser Distance Measuring Equipment, for obtaining the third range data of car bottom.

3. industry loading vehicles positioning device according to claim 2, it is characterised in that: the second laser testing agency Including at least four Laser Distance Measuring Equipment, the Laser emission axis of 4 Laser Distance Measuring Equipments is in same level and laser The direction of the launch is arranged in cross, for obtaining the second distance data of compartment inner wall.

4. industry loading vehicles positioning device according to claim 3, it is characterised in that: the mobile platform is to be installed on Planer-type mobile station in load station, the planer-type mobile station include walking beam, the elevating lever being mounted on walking beam, with And it is mounted on the mounting structure for being used to install second laser testing agency of elevating lever bottom end, the mounting structure is equipped with laser The enclosure space in channel.

5. industry loading vehicles positioning device according to claim 4, it is characterised in that: be provided in the mounting structure Mounting platform, the mounting platform surrounding are provided with horizontal ledge, 4 Laser Distance Measuring Equipments of the second laser testing agency It is respectively arranged in above the horizontal ledge, it is flat that the Laser Distance Measuring Equipment of the third laser detection mechanism is installed on the installation Below platform.

6. industry loading vehicles positioning device according to claim 5, it is characterised in that: setting below the horizontal ledge There is adjustment hole, the regulating part of connection top Laser Distance Measuring Equipment is equipped in the adjustment hole, can be driven by the regulating part sharp The rotation of ligh-ranging equipment level.

7. -6 any industrial loading vehicles positioning device according to claim 1, it is characterised in that: the first laser inspection Surveying mechanism includes the Laser Distance Measuring Equipment that at least two is in same level, the Laser emission of the first laser testing agency Direction is used to obtain the first distance data of railroad car lateral wall towards load station, and the controller is according to the first distance data Obtain the gradient in the loading vehicles compartment.

8. industry loading vehicles positioning device according to claim 7, it is characterised in that: the mobile platform side two It is connected with crossbeam in the middle part of dagger, the first laser testing agency is fixedly installed on the crossbeam, the first laser detection Mechanism is two Laser Distance Measuring Equipments for being in same level, and it is long that the spacing of described two Laser Distance Measuring Equipments is less than compartment Degree.

9. industry loading vehicles positioning device according to claim 8, it is characterised in that: be arranged in the load station There is parking instruction band, for identifying vehicle stand.