CN209706850U - Clearance robot based on intelligent recognition - Google Patents
Clearance robot based on intelligent recognition Download PDFInfo
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- CN209706850U CN209706850U CN201920260077.0U CN201920260077U CN209706850U CN 209706850 U CN209706850 U CN 209706850U CN 201920260077 U CN201920260077 U CN 201920260077U CN 209706850 U CN209706850 U CN 209706850U
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- weight detecting
- detecting device
- laser ranging
- acoustic detector
- ranging system
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Abstract
The utility model discloses a kind of clearance robot based on intelligent recognition, including controller and pattern recognition device connected to the controller, laser ranging system, Weight detecting device, x-ray detection device, acoustic detector, the Weight detecting device is set between pattern recognition device and x-ray detection device, and pattern recognition device is located at Weight detecting device front end outer side, x-ray detection device is located on the outside of Weight detecting device rear end, two groups of laser ranging systems are provided on the left of the Weight detecting device, and one group of laser ranging system is horizontally moveable, another group of laser ranging system is vertically movable, the acoustic detector is set on the left of Weight detecting device, and acoustic detector is between laser ranging system and Weight detecting device.The utility model first detects whether that empty van is further veritified again using acoustic detector, while using X-ray scanning, reduces artificial unpack and veritifies, effectively improves veritification efficiency.
Description
Technical field
The utility model relates to clearance detection device, especially a kind of clearance robot based on intelligent recognition.
Background technique
In import and export of goods customs declaration, the document for getting out clearance is the base for guaranteeing the smooth clearance of cargoes imported and exported
Plinth is generally required and is manually manually completed according to various associated materials contents, need among this to spend a large amount of manpower, energy and
Time, whole process is complicated and cumbersome, and is very easy to mistake occur, once mistake occurs.For this purpose, can use image knowledge
Other technology scans the information on original document, and is converted into text formatting, is then further filled in customs document template, formation has
The customs declaration of information, then confirmation of affixing one's seal or sign is printed, finally declared.Further more, can also directly pass through electronics shelves
It is declared at customs.It is as follows:
The Chinese invention patent of publication No. CN108363943A discloses a kind of clearance machine based on Weigh sensor technology
Device people comprising: original document receiving module is responsible for receiving the picture of original customs document；Intelligent document generation module is responsible for
It is text formatting by the Content Transformation in original customs document picture, and will identify that the content of text come generates the declaration of electronics shelves
Document；Intelligent document correction verification module is responsible for carrying out data check；Intelligent interaction is responsible for above-mentioned intelligent document school connection module
Testing module verification, qualified electronics shelves customs document uploads to customs supervision system and receives the feedback of customs supervision system；Using
File intelligent recognition, the technologies such as declaration intelligence list processed and EDI communication, to improve the efficiency and accuracy rate of production customs document.
Conventional images identification technology can be identified to text and number and conversion, in this way, can carry out intelligent recognition to document, fill out
It writes and prints, can also directly adopt existing mechanics of communication certainly and carry out interacting docking declaration, need to show when paper being avoided to declare
The drawbacks of field declares and expends paper.In import and export of goods, customs need to veritify declaration cargo.
Currently, the similar cargo such as a large amount of agricultural and sideline product generally uses box body device, and at cabinet entering and leaving port, need people
Work, which is unpacked, to be veritified, time-consuming and laborious, is also required to veritification of unpacking in particular for empty van, is greatly reduced veritification efficiency.
Utility model content
The goal of the invention of the utility model is, in view of the above-mentioned problems, providing a kind of clearance machine based on intelligent recognition
People can first detect veritification empty van.
In order to achieve the above objectives, the technical scheme adopted by the utility model is
Clearance robot based on intelligent recognition, including controller and pattern recognition device connected to the controller, laser
Range unit, Weight detecting device, x-ray detection device, acoustic detector, Weight detecting device are set to image recognition dress
It sets between X ray detecting apparatus, and pattern recognition device is located at Weight detecting device front end outer side, x-ray detection device position
On the outside of Weight detecting device rear end, two groups of laser ranging systems, and one group of laser ranging are provided on the left of Weight detecting device
Device is horizontally moveable, and another group of laser ranging system is vertically movable, and acoustic detector is set to a Weight detecting device left side
Side, and acoustic detector is provided with base on the right side of Weight detecting device between laser ranging system and Weight detecting device
Quasi- plate, and datum plate is set on Weight detecting device upper surface.
It further, further include power supply, power supply is controller, pattern recognition device, laser ranging system, again
Amount detecting device, x-ray detection device and acoustic detector power supply.
Further, controller is computer, server or PLC.
Further, acoustic detector includes that excitation instrument and sound collecting sensor, acoustic detector are set to one
On mechanical arm, acoustic detector is moved to tested body side position by mechanical arm.
Further, x-ray detection device includes the transmitting newel post and reception newel post for being set to Weight detecting device two sides,
It is provided with the x-ray source and transmitting terminal cabinet being connected in transmitting newel post, receives and is provided with detector array in newel post, array is visited
The facing position for surveying device is corresponding with x-ray source.
Further, x-ray source front end is provided with collimation and shutter assembly.
Further, two groups of laser ranging systems are respectively arranged on linear guide component, and linear guide component includes water
Level gauge component and upright guide rail component, horizontal guide rail component is from Weight detecting device front end to its rear end horizontal extension, vertically
Guide assembly is located at Weight detecting device rear end side and is vertically arranged.
Due to the adoption of the above technical scheme, the utility model has the following beneficial effects:
The clearance robot based on intelligent recognition of the utility model, first detects whether empty van again using acoustic detector
It is further veritified, while using X-ray scanning, reduced artificial unpack and veritify, effectively improve veritification efficiency.
Detailed description of the invention
Fig. 1 is the schematic layout pattern of the utility model.
Fig. 2 is the acoustic detector structural schematic diagram of the utility model.
Specific embodiment
Embodiment 1
Referring to Fig. 1-Fig. 2, the clearance robot based on intelligent recognition of the present embodiment, including controller and with controller connect
Pattern recognition device (4 and 41), laser ranging system, Weight detecting device 3, the x-ray detection device (1 and 8), sound wave inspection connect
Device is surveyed, Weight detecting device 3 is set between pattern recognition device and x-ray detection device, and pattern recognition device is located at
Weight detecting device front end outer side, x-ray detection device are located on the outside of Weight detecting device rear end, set on the left of Weight detecting device
Two groups of laser ranging systems are equipped with, and one group of laser ranging system is horizontally moveable, another group of laser ranging system can move vertically
Dynamic, acoustic detector is set on the left of Weight detecting device, and acoustic detector is located at laser ranging system and weight inspection
It surveys between device, datum plate 91 is provided on the right side of Weight detecting device 3, and datum plate 91 is set to table on Weight detecting device 3
On face.
It wherein, further include power supply, power supply is controller, pattern recognition device, laser ranging system, weight inspection
Survey device, x-ray detection device and acoustic detector power supply.Controller is typically computer, server or PLC.
Weight detecting device 4 is weighbridge, and rear end is provided with datum plate 9 thereon, thereon to veritify area, is equipped with tested cabinet.
Pattern recognition device includes camera, is the prior art, identifies the identification of license plate in common gate inhibition as
Device.It is set to Weight detecting device front end two sides, label on tested cabinet is affixed on identification, before label may be disposed at cabinet
End or rear end, and identified using digital coding or two dimensional code.
Acoustic detector includes that excitation instrument and sound collecting sensor, acoustic detector are set on a mechanical arm,
Acoustic detector is moved to tested body side position by mechanical arm.Referring to fig. 2, acoustic detector and mechanical arm composition sound
Wave detection device 3.
X-ray detection device includes being set to the transmitting newel post 1 for veritifying region two sides and receiving newel post 7, is emitted in newel post
Be provided with the x-ray source that is connected and transmitting terminal cabinet, receive and be provided with detector array in newel post, detector array towards
Position is corresponding with x-ray source.
Two groups of laser ranging systems are respectively arranged on linear guide component, and linear guide component includes horizontal guide rail component
5 and upright guide rail component 7, horizontal guide rail component is from Weight detecting device front end to its rear end horizontal extension, upright guide rail component
Positioned at Weight detecting device rear end side and it is vertically arranged.The typical as above silver HIWIN linear guide HGW20HB of linear guide component,
HGW25HB or HGW55HB.Laser ranging system is installed on the mobile terminal of linear guide component, in this way, in conjunction with datum plate
Data can measure the length and height of cabinet, laser ranging system typical case such as ZYT-0100 laser range sensor, or adopt
With LDM4X laser range finder.
When veritification, by tested cabinet close to two pieces of datum plates, then veritified.First its volume and weight are veritified,
Start acoustic detector to veritifying in cabinet simultaneously, if cabinet has article, then starts x-ray detection device, simultaneously
Cabinet is slow transitted through into ray scanning area whether there are other non-declarable articles in test box body.
It is following to continue to illustrate.
Distance above and below x-ray source, it is ensured that be more than or equal to box height, in addition ray machine front end respectively correspond installation collimation and
Shutter assembly, there are 2mm slit, shutter assemblies to open the gap 6mm opposite side by the way that rotary magnet drive is intermediate for collimator outermost
The wolfram steel hexagonal rod of 50mm, which quickly rotates by a certain angle, completes the cutting and opening of beam, and x-ray source and its component pass through bottom
Seat regulating mechanism fine tuning alignment.Air conditioner is mounted on transmitting terminal cabinet and provides the environment temperature of needs for x-ray source.
Lightning rod is installed on the capital of receiving end, detector array is mounted on inside column, and detector array periphery is closed with aluminium
Golden shell protection is sealed in the front 2mm carbon fiber board for receiving X-ray, and detector array adjacent surface is blocked with 2mm stereotype and avoided
The faint scattering light that X-ray machine issues influences it.The X-ray signal that detector array receives is carried out by data collection system
Processing, and image is generated, intuitive reference data is provided for operator.It has been observed that X-ray detection is in prior art basis
Upper completion, other not most explanations can be found in X-rays such as " the face battle array imaging system researchs based on X-ray linear array scanning, 2015 "
Detection system technical literature.
Acoustic wave detection devices 3 include mechanical arm 10 and the acoustic detector 20 for being mounted on its end, sonic detection dress
Setting 20 includes excitation instrument 21, sound collecting sensor 22；Mechanical arm 10 is used to acoustic detector 20 being moved to body side
Position.Further include distance measuring sensor 30, is used for detection box lateral location.Distance measuring sensor 30 is mounted on acoustic detector 20
On, for saving space.
Controller connects mechanical arm 10, acoustic detector 20 and distance measuring sensor by circuit or wireless communication signals
30, it is mobile that the data by receiving and analyzing the transmission of distance measuring sensor 30 control mechanical arm 10.
Mechanical arm includes multiple actuating arms 11 and pedestal 12, wherein the actuating arm 11 is mounted on pedestal 12, actuating arm
It is connected between 11 by joint.Excitation instrument 21, sound collecting sensor 22 and distance measuring sensor 30 are located at acoustic detector 20
The same side.Sound collecting sensor typical case such as TZ-2KA noise transducer.Distance measuring sensor can be used such as aforementioned laser ranging
Sensor.
When acoustic detector 20 is moved to body side medium position by mechanical arm 10, controller controls mechanical arm 10
It moves forward, makes that instrument 21 is motivated to hit cabinet.After motivating instrument 21 to hit cabinet, box house is made to generate reverberation, sound collecting passes
Sensor 22 acquires the frequency of sound wave of box house, and the frequency of sound wave of acquisition is passed through circuit transmission to controller.Controller root
According to the frequency of sound wave that sound collecting sensor 22 transmits, the reverberation curve figure of box house is obtained, according to specific frequency, frequency
Duan Jinhang spectrum analysis.If box house has object, the reverberation frequency acquired is different from the frequency of empty van, in addition if case
There is interlayer in internal portion, and whether the reverberation frequency of acquisition also has corresponding variation, can be empty van, interlayer with accurate judgement container
The case where.
Acoustic detector 20 further include be more than to issue the combined aural and visual alarm 23 of sound-light alarm automatically under predetermined condition, when
For acoustic detector 20 when being more than to work under predetermined condition, acoustic detector 20 will be automatically stopped work, and start acousto-optic
Warning device issues sound-light alarm and shows, prompts user's device to be in abnormal working environment, need to handle in time, avoid making
Forming apparatus damage.
Above description is the detailed description for the preferable possible embodiments of the utility model, but embodiment is not limited to
The patent claim of the utility model, the same changes or modifications completed under technical spirit suggested by all the utility model
Change, should belong to the covered the scope of the patents of the utility model.
Claims (7)
1. a kind of clearance robot based on intelligent recognition, it is characterised in that: including controller and image connected to the controller
Identification device, laser ranging system, Weight detecting device, x-ray detection device, acoustic detector, the weight detecting dress
It installs and is placed between pattern recognition device and x-ray detection device, and pattern recognition device is located at outside Weight detecting device front end
Side, x-ray detection device are located on the outside of Weight detecting device rear end, are provided with two groups of Laser Measurings on the left of the Weight detecting device
Away from device, and one group of laser ranging system is horizontally moveable, and another group of laser ranging system is vertically movable, the sonic detection
Device is set on the left of Weight detecting device, and acoustic detector is between laser ranging system and Weight detecting device,
It is provided with datum plate on the right side of the Weight detecting device, and datum plate is set on Weight detecting device upper surface.
2. the clearance robot according to claim 1 based on intelligent recognition, it is characterised in that: it further include power supply,
Power supply is controller, pattern recognition device, laser ranging system, Weight detecting device, x-ray detection device and sound wave inspection
Survey device power supply.
3. the clearance robot according to claim 1 based on intelligent recognition, it is characterised in that: the controller is to calculate
Machine, server or PLC.
4. the clearance robot according to claim 1 based on intelligent recognition, it is characterised in that: the acoustic detector
It is set on a mechanical arm including excitation instrument and sound collecting sensor, acoustic detector, mechanical arm is by acoustic detector
It is moved to tested body side position.
5. the clearance robot according to claim 1 based on intelligent recognition, it is characterised in that: the X-ray detection dress
It sets the transmitting newel post including being set to Weight detecting device two sides and receives newel post, be provided with the X being connected in transmitting newel post and penetrate
Line source and transmitting terminal cabinet receive in newel post and are provided with detector array, and the facing position of detector array is opposite with x-ray source
It answers.
6. the clearance robot according to claim 5 based on intelligent recognition, it is characterised in that: the x-ray source front end
It is provided with collimation and shutter assembly.
7. the clearance robot according to claim 1 based on intelligent recognition, it is characterised in that: two groups of laser rangings
Device is respectively arranged on linear guide component, and linear guide component includes horizontal guide rail component and upright guide rail component, level
For guide assembly from Weight detecting device front end to its rear end horizontal extension, upright guide rail component is located at Weight detecting device rear end side
And it is vertically arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920260077.0U CN209706850U (en) | 2019-03-01 | 2019-03-01 | Clearance robot based on intelligent recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920260077.0U CN209706850U (en) | 2019-03-01 | 2019-03-01 | Clearance robot based on intelligent recognition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209706850U true CN209706850U (en) | 2019-11-29 |
Family
ID=68642898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920260077.0U Expired - Fee Related CN209706850U (en) | 2019-03-01 | 2019-03-01 | Clearance robot based on intelligent recognition |
Country Status (1)
| Country | Link |
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| CN (1) | CN209706850U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115187170A (en) * | 2022-07-12 | 2022-10-14 | 深圳市泰洲科技有限公司 | Seamless clearance system and use method thereof |
| CN118091737A (en) * | 2024-02-29 | 2024-05-28 | 讯极科技(苏州)有限公司 | Device and method for rapidly detecting whether container is empty or not through acoustic algorithm |
-
2019
- 2019-03-01 CN CN201920260077.0U patent/CN209706850U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115187170A (en) * | 2022-07-12 | 2022-10-14 | 深圳市泰洲科技有限公司 | Seamless clearance system and use method thereof |
| CN118091737A (en) * | 2024-02-29 | 2024-05-28 | 讯极科技(苏州)有限公司 | Device and method for rapidly detecting whether container is empty or not through acoustic algorithm |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191129 |
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| CF01 | Termination of patent right due to non-payment of annual fee |