CN114194873B - Visual system-based intelligent unloading system and method for refrigerator ship - Google Patents
Visual system-based intelligent unloading system and method for refrigerator ship Download PDFInfo
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- CN114194873B CN114194873B CN202111601819.XA CN202111601819A CN114194873B CN 114194873 B CN114194873 B CN 114194873B CN 202111601819 A CN202111601819 A CN 202111601819A CN 114194873 B CN114194873 B CN 114194873B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000000007 visual effect Effects 0.000 title description 4
- 238000012545 processing Methods 0.000 claims abstract description 36
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 7
- 238000004321 preservation Methods 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 2
- 230000007774 longterm Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 238000003860 storage Methods 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000002655 kraft paper Substances 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000019688 fish Nutrition 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Classifications
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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
- B65G67/60—Loading or unloading ships
- B65G67/603—Loading or unloading ships using devices specially adapted for 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ship Loading And Unloading (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an intelligent unloading system and method for a refrigerated ship based on a vision system. The intelligent unloading system follows the principle of approaching from top to bottom, irradiates through the self-provided annular high-power light source, scans goods and environment by the machine vision unit 4, roughly calculates the distance between the goods and the carrying sequence of each area, and then the central processing unit 8 controls the walking unit 7 to move according to the position coordinate information. The system integrates a relatively mature machine vision unit to perform automatic unloading operation, and realizes unmanned unloading operation of the refrigerated ship, which has the characteristics of strong automation degree, high working efficiency, low cost, excellent adaptability and the like, thereby realizing the long-term target of intelligent unmanned unloading of the refrigerated ship.
Description
Technical Field
The invention relates to the technical field of unmanned or minimally-humanized unloading of refrigerated vessels, in particular to an intelligent unloading system and method for a refrigerated vessel based on a vision system.
Background
The refrigerated ship is mainly used for ocean fishing industry and sea transportation of perishable foods such as fish, meat, fruits, vegetables and the like. In recent years, as international trade rapidly progresses, the capacity of refrigerated ships increases year by year. The cargo compartment of the refrigerated vessel is a refrigerated compartment, which is usually divided into a plurality of multi-layer compartments, with temperatures up to about-20 ℃. Each compartment is a separate enclosed cargo space. The height between the upper deck and the lower deck of the refrigerated compartment or between the deck and the bilge is small, so that the lower cargo is prevented from being crushed due to too high cargo accumulation. In addition, the goods in the cargo hold are placed in a relatively unordered manner, and in order to avoid collapse in the marine transportation process, the goods are generally piled up in the whole cargo hold. The package types of goods are more, such as cartons and gunny bags wrapped by kraft paper. Because the type of goods package is many, weight is big, the pile up neatly unordered operation environment is abominable, and the unloading time limit for a project is tight, present cold-stored ship unloading operation mainly uses artifical transport, has artifical unloading working strength big, inefficiency, the high scheduling problem of security risk. Particularly at low temperatures for long periods of time, increasing the risk of infection with viruses. Accordingly, the development of automated unloading equipment for refrigerated vessels is an urgent need.
In recent years, with the rapid development of intelligent technology, automatic and intelligent loading and unloading equipment in manufacturing workshops and logistics industry is rapidly developed. But these are mainly used in the good environment of operating mode such as goods are orderly, kind is fixed, and the operating space is enough. The unloading working environment of the refrigerated carrier is bad, the unloading operation is divided into the processes of opening a hatch, stacking, conveying from the cabin to the shore, preventive killing, loading and transporting and the like, and development of special automatic unloading equipment suitable for the refrigerated carrier and an operation process thereof are urgently needed.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses an intelligent unloading system of a refrigerated ship based on a vision system, which comprises a mechanical arm, a grabbing unit, a heat preservation unit, a machine vision unit, an intelligent unloading unit, a lifting unit, a walking unit and a central processing unit, wherein the mechanical arm is connected with the grabbing unit;
the mechanical arm is connected with the grabbing unit and drives the grabbing unit to grab and control the goods packages from different directions;
The grabbing unit comprises a switching device vacuum chuck and a manipulator;
The heat insulation unit comprises a heat insulation cover, a temperature detection module and an electric heat tracing module, wherein the heat insulation cover is used for blocking heat transfer between the machine vision unit and the cabin environment, so that the 3D scanner can work normally in a low-temperature environment; the temperature detection module comprises a plurality of temperature sensors which are arranged in the heat shield and used for measuring real-time temperature information of the local environment where the machine vision unit is located, and when the environmental temperature of the machine vision unit is smaller than a set threshold value, the electric tracing module is used for heating the local environment where the machine vision unit is located;
The machine vision unit comprises a 3D scanner and a laser displacement sensor, wherein the 3D scanner is used for identifying cargoes in the cabin and scanning the environment in the cabin, and the laser displacement sensor is used for detecting the distance between the cargoes and the intelligent unloading system;
The intelligent unloading unit comprises a self-unloading container, a hydraulic cylinder and an electromagnetic valve, wherein the electromagnetic valve is arranged at the bottom of a side door of the self-unloading container, and the hydraulic cylinder is arranged at the bottom of the self-unloading container;
The lifting unit is used for adjusting the grabbing height of the intelligent unloading unit, the lifting unit comprises a connecting rod and a lifting platform, and when the machine vision unit detects that the distance between the goods and the mechanical arm is greater than the maximum working range of the mechanical arm, the lifting unit adjusts the height according to the lifting displacement planned by the central processing unit;
the walking unit receives the instruction signal of the central processing unit to move in a specified direction and distance.
The system also comprises a hanging basket which works together with the intelligent unloading system of the refrigerated ship. The basket has two functions: firstly, transferring goods, namely when the intelligent unloading system of the refrigerated vessel transfers the goods into the hanging basket and is full, the hanging basket is hung to the vicinity of a conveying belt on a deck through a crane to carry out unloading; and secondly, the intelligent unloading system can be used for lifting the refrigerated ship between different layers of cabins or decks to transfer the intelligent unloading system to a proper working position.
An unloading method of an intelligent unloading system of a refrigerated ship comprises the following steps:
The crane utilizes the hanging basket to transport the intelligent unloading system of the refrigerator ship to the hatch of the layer to be unloaded. The machine vision unit scans surrounding working conditions and positions the machine vision unit, and meanwhile, the hatch contour is identified. After the machine vision unit transmits the acquired data information to the central processing unit for path planning, the central processing unit transmits a walking instruction to the walking unit and controls the intelligent unloading system of the refrigerated storage to run to a preset position of the cabin door;
After the cabin door is opened, the lifting unit is lowered to the lowest, the machine vision unit starts to scan cargoes below the cabin door so as to acquire surface information, type and quantity information of the cargoes, the central processing unit optimizes the running track of the mechanical arm and outputs an optimal carrying track, the mechanical arm starts to absorb cargoes and carry the cargoes into the self-unloading box, and when the intelligent unloading system finishes the carrying work of the cargoes within the working radius range of the mechanical arm, the cargoes are transported to other positions of the cabin door for carrying the cargoes. When the self-unloading box goods reach the upper bearing limit, the intelligent unloading system of the refrigerated ship returns to the hanging basket, the central processing unit controls the intelligent unloading unit to pour the goods into the hanging basket, and returns to the goods to continue to be sucked until the working spaces of the hanging basket and the intelligent unloading system are cleared out from the lower part of the hatch;
When the cargoes below the hatch are emptied, the hatch can be closed, the crane places the hanging basket on the hatch, the side door of the hanging basket is opened, the walking unit executes the displacement instruction transmitted by the central processing unit, the mechanical arm is contracted to the minimum size form, and the intelligent unloading system enters the hanging basket; the crane lifts the hanging basket with the intelligent unloading system, the cabin door is opened, the crane lowers the hanging basket to a cargo-free area below the hatch, after the hanging basket enters the cabin to be stable, the side door of the hanging basket is opened, and the intelligent unloading system moves out of the hanging basket to execute unloading operation in the cabin;
And (3) starting the in-cabin unloading operation: the machine vision unit scans the cabin environment, calculates the cargo distance and the carrying sequence of each region, the central processing unit transmits the position coordinates to the walking unit to control the operation appointed displacement, when the position coordinates reach the vicinity of the cargo, the machine vision unit accurately positions the cargo, scans the outline and identifies the absorption area, and the grabbing unit absorbs and transports the cargo into the self-unloading box. And repeating the process, when the intelligent unloading system reaches the upper bearing limit, the central processing unit controls the traveling unit to reach the position near the hanging basket of the hatch according to the shortest path, and the intelligent unloading unit dumps the cargoes into the hanging basket (9) and returns to the cargoes for unloading continuously. When the goods are higher, the lifting unit lifts the mechanical arm to carry out the goods.
When the machine vision unit cannot detect the goods signal, the central processing unit performs moving path planning, controls the traveling unit to reach the hatch of the next layer, and repeats unloading operations of the opening hatch and goods in the subsequent cabin until unloading of the last layer of cabin is completed.
And finally, transporting the intelligent unloading system back to the outside of the cabin through the hanging basket.
By adopting the technical scheme, the intelligent unloading system and the intelligent unloading method for the refrigerated-storage ship based on the vision system are integrated with the relatively mature machine vision unit to perform automatic unloading operation, so that unmanned unloading operation of the refrigerated-storage ship with the characteristics of high automation degree, high working efficiency, low cost, excellent adaptability and the like is realized, and the long-term goal of intelligent unmanned unloading of the refrigerated-storage ship is realized;
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a block diagram of a visual system-based intelligent unloading system for a refrigerated-vessel in accordance with the present invention;
FIG. 2 is a flow chart of the operation of the system of the present invention;
FIG. 3 is a block diagram of a switching device according to the present invention;
FIG. 4 is a block diagram of a gripper unit according to the present invention;
FIG. 5 is a block diagram of a machine vision unit according to the present disclosure;
FIG. 6 is a diagram of a 3D scanner according to the present invention;
FIG. 7 is a block diagram of an intelligent unloading unit according to the present invention;
FIG. 8 is a block diagram of a lifting unit according to the present invention;
FIG. 9 is a block diagram of a temperature detection module according to the present invention;
Fig. 10 is a block diagram of an electric tracing module according to the present invention:
FIG. 11 is a block diagram of a basket according to the present invention;
FIG. 12 is a functional block diagram of a visual system-based intelligent unloading system for a refrigerated-vessel in accordance with the present invention
Detailed Description
In order to make the technical scheme and advantages of the present invention more clear, the technical scheme in the embodiment of the present invention is clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention:
the intelligent unloading system of the refrigerated ship based on the vision system shown in fig. 1 comprises a mechanical arm 1, a grabbing unit 2, a heat preservation unit 3, a machine vision unit 4, an intelligent unloading unit 5, a lifting unit 6, a walking unit 7, a central processing unit 8 and a hanging basket 9.
The mechanical arm 1 is connected with the grabbing unit 2 to drive the grabbing unit 2 to grab and control the goods packages from different directions; after the grabbing is finished, the mechanical arm drives the goods to move to the position above the self-unloading container 51 in the intelligent unloading unit 5, and after the goods are placed, the mechanical arm 1 drives the grabbing unit 2 to move to the position near the goods to be grabbed according to the information scanned by the machine vision unit 4, so that the goods can be grabbed continuously.
As shown in fig. 3, 4 and 5, the gripping unit 2 includes a switching device 21, a vacuum chuck 22 and a manipulator 23, where the switching device 21 can control the gripping unit 2 to execute different gripping modes, and the vacuum chuck 22 can be used to suck the side of kraft type goods located at a high position and the front of bottom layer goods, and the manipulator 23 is used to grip the gunny bag type goods.
As shown in fig. 6, the main functions of the machine vision unit 4 are to identify the goods (including kinds, shapes, sizes, etc.) during the unloading operation by the 3D scanner 41, collect the scanned image of the environment, and measure the distance between the goods and the intelligent unloading system by the laser displacement sensor 43. The 3D scanner 41 is positioned right behind the dump truck box 51 and the scan field of view contains cargo in a 120 deg. area directly in front of the intelligent discharge system. The measuring range of the laser displacement sensor 43 is larger than the size of the whole cargo hold of a common large-sized fishing boat, coarse positioning of the cargo position can be realized, and the function of detecting whether the residual cargo exists in the cargo hold or not is realized by matching with the 3D scanner 41. The heat preservation unit 3 is used for creating a proper working environment for working units such as the machine vision unit 4, the central processing unit 8 and the like, so that the units can be ensured to normally operate in a cabin low-temperature environment.
As shown in fig. 9 and 10, the machine vision unit 4 and the central processing unit 8 are isolated from the cabin environment by the heat shield 31 in the heat preservation unit 3, so that the heat transfer effect of the temperature is reduced. When the temperature in the heat shield 31 is lower than the preset temperature, the temperature detection module 32 sends a signal to the electric tracing module 33, and the electric tracing module 33 performs a heating function. When the temperature in the heat shield 31 rises to a preset temperature, the temperature detection module 32 sends a heating stop signal to the electric tracing module 33.
As shown in fig. 7, the intelligent unloading unit 5 can realize the functions of storing and dumping goods, wherein the dumping goods can be realized by the combination of the self-dumping container 51, the hydraulic cylinder 52 and the electromagnetic valve 54. When the shipment reaches the upper limit of the self-unloading container, the traveling unit 7 carries the intelligent unloading system to move to the vicinity of the hanging basket 9. The hydraulic cylinder 52 is extended, one end of the self-discharging container 51 close to the mechanical arm 1 is lifted, the electromagnetic valve 54 is powered off, and the goods are flushed out of the bottom baffle of the self-discharging container 51 due to the action of gravity component force and fall into the hanging basket 9. After the dumping work is finished, the hydraulic cylinder 52 is retracted to the original position, the electromagnetic valve 53 is electrified, the baffle at the bottom end of the dump truck 51 swings back to the original position under the action of gravity, and when the electromagnetic valve 53 is touched, the bottom door is closed.
The walking unit 7 is mainly responsible for carrying the intelligent unloading system for movement. The movement instruction specifying the displacement is executed based on the displacement signal sent from the central processing unit 8.
As shown in fig. 8, the lifting unit 6 is used for lifting and lowering the overall height of the intelligent unloading system, so that the mechanical arm 1 cooperates with the grabbing unit 2 to grab the cargo with any height in the cargo compartment.
As shown in fig. 11, the hanging basket 9 is mainly matched with a shore crane and used for conveying an intelligent unloading system and goods, so that one basket is dual-purpose.
As shown in fig. 2, the invention discloses an intelligent unloading system of a refrigerated ship based on a vision system, which specifically comprises the following steps:
s1, preparation work before carrying:
The hanging basket 9 provided with the intelligent unloading system is transported to the hatch through the shore crane, the intelligent unloading system firstly scans surrounding working conditions through the machine vision unit 4 and achieves coarse positioning of the position of the hanging basket, the contour of the hatch is recognized, collected data information is transmitted to the central processing unit 8 for path planning of the moving device, then an instruction is sent to the walking unit 7, the intelligent unloading unit 5 is controlled to move to the vicinity of the hatch, fine positioning is conducted through the machine vision unit 4, and the intelligent unloading system moves to the preset position of the hatch.
S2, carrying cargo under a hatch:
Because the goods in the refrigerated ship cabin are in a full-load state, the intelligent unloading system cannot directly enter the cabin, and the goods under the cabin are required to be cleaned out of a certain space through the intelligent unloading system, so that the system and the hanging basket 9 can be conveniently placed in the cabin. The cabin door is opened, and the lifting unit 6 in the intelligent unloading system is lowered to the lowest height. Before the start of the handling operation, the intelligent unloading system receives a handling plan, such as a set type, amount, etc. of the handled goods. The machine vision unit 4 then begins scanning the cargo under the hatch to obtain information on the surface, type, quantity, etc. of the cargo. Based on the surface information and the characteristics of the packaging materials, the central processing unit 8 optimizes the track and sequence of the mechanical arm for carrying goods through a set of dynamic equations, and outputs the optimal carrying track. After the grabbing unit 2 connected with the front end of the mechanical arm 1 grabs the cargo below the hatch, the mechanical arm 1 rotates to a proper position above the self-unloading container 51, the grabbing unit 2 stops working, and the cargo falls into the self-unloading container 51. The mechanical arm 1 rotates to continue the unloading operation. The 3D scanner 41 performs one or more scans before each transport to prevent the cargo position change from affecting the unloading operation. When the intelligent unloading system finishes goods unloading work within the working radius range of the mechanical arm 1, the intelligent unloading system moves to the other three sides of the rectangular cabin door through the machine vision unit 4 to continue carrying work of the goods. The purpose is to clear up the working space that can hold hanging flower basket and intelligent discharge system below the hatch.
S3, self-unloading operation flow of intelligent unloading system
When the intelligent unloading unit 5 detects that the load reaches the upper limit of the load in the carrying process, the intelligent unloading unit 5 sends a signal to the central processing unit control system to stop carrying work, the machine vision unit 4 scans the environment, and the original path returns to the vicinity of the multifunctional hanging basket 9. The intelligent unloading unit 4 drives the hydraulic cylinder 52 to extend so as to realize dumping operation of cargoes, after dumping is finished, the self-dumping container 51 is reset, and the intelligent unloading system is carried by the walking unit 7 to return to the station along the original path.
S4, cabin changing process of intelligent unloading system
After the cargoes below the hatch are emptied, the hatch door is closed, the crane places the hanging basket 9 on the hatch door, the electromagnetic valve on the side door of the hanging basket 9 is powered off, the electric telescopic rod arranged on the hanging basket 9 is extended, and the side door of the hanging basket is opened. The walking unit 7 in the intelligent unloading system executes a displacement instruction, and the central processing unit 8 controls the mechanical arm 1 to be contracted to a minimum size shape and enter the hanging basket 9. After the intelligent unloading system enters the hanging basket 9, the electromagnetic valve of the side door of the hanging basket is electrified, the electric telescopic rod is retracted, and the side door is closed. The crane lifts the basket 9 equipped with the intelligent unloading system, the cabin door is opened, and the crane lowers the basket 9 to the cargo-free area below the hatch. After the hanging basket 9 enters the cabin to be stable, the side door of the hanging basket 9 is opened, the intelligent unloading system moves out of the multifunctional hanging basket through the walking unit 7, and the unloading operation in the cabin is executed.
S5, unloading operation in the cabin
When the in-cabin unloading operation is carried out, the intelligent unloading system follows the principle of approaching from top to bottom, irradiates through the self-contained annular high-power light source, scans the environment through the machine vision unit 4, and roughly calculates the distance of the objects to be unloaded and the carrying sequence of each area. The central processing unit 8 then controls the walking unit 7 to move according to the position coordinate information.
When the goods reach the vicinity, the machine vision unit 4 performs work such as fine positioning, contour scanning, suction area recognition, and the like again. After the goods are grabbed by utilizing the grabbing unit 2 connected with the front end of the mechanical arm 1, the mechanical arm 1 rotates to place the goods into the self-unloading container. And repeating the process, and continuing the unloading operation.
When the intelligent unloading system reaches the upper bearing limit, the central processing unit 8 receives the sending signal, the walking unit 7 reaches the position near the hanging basket 9 of the hatch according to the shortest path, the intelligent unloading system carries out dumping operation, and after the dumping operation is finished, the intelligent unloading system returns to the station in the original path to continue unloading operation. When the cargo is high, the lifting unit 6 lifts the mechanical arm 1 and the dump box 51 at the same time to carry the cargo.
When the machine vision unit 4 does not detect cargo in the same layer, this indicates that the cargo in the cargo hold of that layer has been emptied. The central processing unit 8 performs the movement path planning, and finally the central processing unit 8 sends instructions to the walking unit 7. The traveling unit 7 reaches a predetermined position in the rectangular area under the cabin, and is ready for unloading the lower cabin.
And opening the next cabin door, and repeating the process by the intelligent unloading system to unload the cargoes below the cabin door. After the cargo below the hatch is cleared out of a certain space, the intelligent unloading system is placed on the cargo below the hatch through the hanging basket 9, the unloading operation procedure of the upper layer in the hatch is repeated, the cargo of the next layer is unloaded until the cargo of the last layer of the refrigerated ship is cleared up, and the intelligent unloading system is transported out of the cargo hold through the hanging basket 9.
In addition to these intelligent functions, intelligent offloading systems also have the ability to learn themselves, thereby enabling accumulation of offloading experience from "big data" generated during long-term offloading operation, and pre-validation and correction of empirical or analytical equations used. In theory, the intelligent unloading system can reduce experience errors as long as the optimal carrying track is accurately obtained, and the unloading task can be rapidly completed in a mode of minimum energy consumption.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (1)
1. The utility model provides a method of unloading of cold-stored ship intelligence discharge system based on vision system which characterized in that: the system comprises: the device comprises a mechanical arm (1), a grabbing unit (2), a heat preservation unit (3), a machine vision unit (4), an intelligent unloading unit (5), a lifting unit (6), a walking unit (7) and a central processing unit (8);
the mechanical arm (1) is connected with the grabbing unit (2) to drive the grabbing unit (2) to grab and control the goods package from different directions;
The grabbing unit (2) comprises a switching device (21), a vacuum chuck (22) and a manipulator (23);
The heat preservation unit (3) comprises a heat shield (31), a temperature detection module (32) and an electric tracing module (33), wherein the heat shield (31) is used for blocking heat transfer between the machine vision unit (4) and a cabin environment, so that the 3D scanner (41) can work normally in a low-temperature environment; the temperature detection module (32) comprises a plurality of temperature sensors which are arranged in the heat shield (31) and are used for measuring real-time temperature information of the local environment where the machine vision unit (4) is located, and when the environment temperature of the machine vision unit (4) is smaller than a set threshold value, the electric tracing module (33) heats the local environment where the machine vision unit (4) is located;
The machine vision unit (4) comprises a 3D scanner (41) and a laser displacement sensor (43), wherein the 3D scanner (41) is used for identifying cargoes in a cabin and scanning the environment in the cabin, and the laser displacement sensor (43) is used for detecting the distance between the cargoes and the intelligent unloading system;
the intelligent unloading unit (5) is used for comprising a self-unloading container (51), a hydraulic cylinder (52) and an electromagnetic valve (54), wherein the electromagnetic valve (54) is arranged at the bottom of a side door of the self-unloading container (51), and the hydraulic cylinder (52) is arranged at the bottom of the self-unloading container (51);
The lifting unit (6) is used for adjusting the grabbing height of the intelligent unloading unit (5), the lifting unit (6) comprises a connecting rod (63) and a lifting platform (64), and when the machine vision unit (4) detects that the distance between a cargo and the mechanical arm (1) is greater than the maximum working range of the mechanical arm (1), the lifting unit (6) adjusts the height according to the lifting displacement planned by the central processing unit (8);
The walking unit (7) receives an instruction signal of the central processing unit (8) to move in a specified direction and distance;
The system also comprises a hanging basket (9) which works together with the intelligent unloading system of the refrigerated vessel, when the intelligent unloading system of the refrigerated vessel transfers the goods into the hanging basket (9) and is full, the hanging basket (9) is hung to the vicinity of a conveying belt on a deck through a crane to unload the goods; the hanging basket (9) is also used for lifting the intelligent unloading system of the refrigerated ship between different layers of cabins or decks and transferring the intelligent unloading system to a proper working position;
The unloading method of the intelligent unloading system of the refrigerated ship comprises the following steps:
the crane utilizes a hanging basket (9) to transport the intelligent unloading system of the refrigerated carrier to the hatch of a layer to be unloaded, the machine vision unit (4) scans surrounding working conditions and positions the machine vision unit, meanwhile, the hatch outline is recognized, the machine vision unit (4) transmits collected data information to the central processing unit (8) for path planning, and after the central processing unit (8) transmits a walking instruction to the walking unit (7) to control the intelligent unloading system of the refrigerated carrier to run to a hatch preset position;
The automatic unloading system comprises a cabin door, a lifting unit (6), a machine vision unit (4), a central processing unit (8), a mechanical arm (1), a self-unloading box, a refrigerating ship intelligent unloading system, a hanging basket (9) and a central processing unit (8), wherein the cabin door is opened, the lifting unit (6) is lowered to the lowest after the cabin door is opened, the machine vision unit (4) starts to scan cargoes below the cabin door so as to acquire surface information, type and quantity information of the cargoes, the central processing unit (8) optimizes the running track of the mechanical arm (1) and outputs an optimal carrying track, the mechanical arm (1) starts to absorb cargoes to be carried into the self-unloading box, when the intelligent unloading system finishes carrying the cargoes within the working radius range of the mechanical arm, the intelligent unloading system is transferred to other positions of the cabin door to carry the cargoes, when the self-unloading box cargoes reach the upper bearing limit, the intelligent unloading system of the refrigerating ship returns to the hanging basket (9), the intelligent unloading unit (5) is controlled to pour the cargoes into the hanging basket (9), and the cargoes are continuously absorbed at the position until the working space of the hanging basket and the intelligent unloading system is cleaned below the cabin door.
When the goods below the hatch are emptied, the hatch can be closed, the crane places the hanging basket (9) on the hatch, the side door of the hanging basket (9) is opened, the walking unit (7) executes a displacement instruction transmitted by the central processing unit (8), the mechanical arm (1) is contracted to a minimum size form, and the intelligent unloading system enters the hanging basket (9); the crane lifts a hanging basket (9) provided with an intelligent unloading system, a cabin door is opened, the crane lowers the hanging basket (9) to a cargo-free area below a hatch, and after the hanging basket enters a cabin to be stable, a side door of the hanging basket (9) opens a traveling unit (7) to move out of the hanging basket (9) to execute unloading operation in the cabin;
And (3) starting the in-cabin unloading operation: the machine vision unit (4) scans the cabin environment, calculates the cargo distance and the carrying sequence of each area, the central processing unit (8) transmits the position coordinates to the walking unit (7) to control the operation appointed displacement, when the position reaches the vicinity of the cargo, the machine vision unit (4) accurately positions the cargo, scans the outline and identifies the sucking area, the grabbing unit (2) sucks the cargo and transfers the cargo into the self-unloading box, the process is repeated, when the intelligent unloading system reaches the upper bearing limit, the central processing unit (8) controls the walking unit (7) to reach the vicinity of the position of the hanging basket (9) of the hatch according to the shortest path, the intelligent unloading unit (5) dumps the cargo into the hanging basket (9) and returns to the cargo position to continue unloading, and when the cargo is higher, the lifting unit (6) lifts the mechanical arm (1) to carry out the cargo carrying work;
When the machine vision unit (4) cannot detect goods signals, the central processing unit (8) performs moving path planning, controls the traveling unit (7) to reach the hatch of the next layer, and repeats unloading operations of the opening doors and goods in the subsequent cabins until the unloading of the last layer of cabins is completed;
Finally, the intelligent unloading system is transported back to the outside of the cabin through the hanging basket (9).
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