CN110054084B - Multi-mechanical-arm traveling crane system and control method and fault processing method thereof - Google Patents
Multi-mechanical-arm traveling crane system and control method and fault processing method thereof Download PDFInfo
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- CN110054084B CN110054084B CN201910355559.9A CN201910355559A CN110054084B CN 110054084 B CN110054084 B CN 110054084B CN 201910355559 A CN201910355559 A CN 201910355559A CN 110054084 B CN110054084 B CN 110054084B
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- traveling crane
- trolley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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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
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
Abstract
The invention provides a multi-mechanical-arm traveling crane system, a control method and a fault processing method thereof, wherein the method comprises the following steps: receiving an operation instruction for executing specified hoisting operation on the target building, which is input by a remote control end, through the control system; selecting any one row hoisting unit in the row hoisting system based on the operation instruction, and determining a working area when the row hoisting unit executes the specified row hoisting operation; and moving the traveling crane unit to the working area, and controlling a traveling crane trolley in the traveling crane unit to execute the specified traveling crane operation. According to the scheme provided by the invention, the multiple mechanical arms are arranged on the single travelling crane trolley to grab the same or different end effectors, so that the construction can be flexibly and efficiently carried out in a complex building environment, meanwhile, the design of the multiple mechanical arms not only increases the working efficiency, but also can finish a complex process by switching different effectors.
Description
Technical Field
The invention relates to the technical field of traveling cranes, in particular to a multi-mechanical-arm traveling crane system and a control method and a fault handling method thereof.
Background
In the field of constructional engineering, a traveling crane (crane) is generally used for lifting and carrying materials, so that the materials are carried. However, the existing crane only has the functions of hoisting and transporting, and cannot be reasonably utilized when special materials are needed for operation; for example, when the material needs to be grabbed or bound, additional equipment is needed for operation, so that the operation cost is increased, and the work efficiency is reduced. Along with the development of novel building mode, the demand on building site can't be satisfied to single mechanical arm, and the demand on building site is satisfied to the new line hoist system that has many mechanical arms of urgent need.
Disclosure of Invention
In view of the above, the present invention provides a multi-robot arm crane system, a control method thereof, and a fault handling method thereof, which overcome or at least partially solve the above problems.
According to one aspect of the invention, a multi-mechanical-arm traveling crane system is provided, which comprises at least one traveling crane unit and a control system for controlling the traveling crane unit to work; wherein the content of the first and second substances,
each traveling crane unit comprises a traveling crane cart and a traveling crane trolley movably arranged on the traveling crane cart;
the crane trolley is provided with a telescopic rod in the upward vertical direction, the telescopic rod is provided with a plurality of mechanical arms, and the crane trolley is connected with an end effector through the mechanical arms.
Optionally, a fixing portion is disposed between the telescopic rod and the plurality of mechanical arms, and the plurality of mechanical arms are disposed on the telescopic rod via the fixing portion.
Optionally, the travelling crane cart in each travelling crane unit comprises two horizontal guide rails arranged on the climbing frame in parallel and a cross beam erected between the two horizontal guide rails and capable of moving along the horizontal guide rails;
and the traveling crane trolley in the traveling crane unit is longitudinally movably arranged on a cross beam of the traveling crane cart.
Optionally, an image acquisition device mechanical arm is further arranged on the traveling crane trolley, an image acquisition device is arranged on the image acquisition device mechanical arm, and the image acquisition device is in communication connection with the control system.
Optionally, a sensor mechanical arm is further arranged on the traveling crane trolley, a sensor is arranged on the sensor mechanical arm, and the sensor is electrically connected with the control system and used for detecting the obstacle.
Optionally, the travelling crane cart and the travelling crane trolley are respectively provided with a guide rail driver; and the guide rail drivers on the travelling crane cart and the travelling crane trolley are respectively in communication connection with the control system.
According to another aspect of the present invention, there is provided a control method of a multi-robot traveling crane system, which is applied to any one of the above-described multi-robot traveling crane systems, the method including:
receiving an operation instruction for executing specified hoisting operation on the target building, which is input by a remote control end, through the control system;
selecting any one row hoisting unit in the row hoisting system based on the operation instruction, and determining a working area when the row hoisting unit executes the specified row hoisting operation;
and moving the traveling crane unit to the working area, and controlling a traveling crane trolley in the traveling crane unit to execute the specified traveling crane operation.
Optionally, the determining a working area when the traveling crane unit executes the specified traveling crane operation includes:
constructing a three-dimensional coordinate system in a laser navigation mode;
analyzing the operation instruction, determining a working area of the traveling crane unit based on the three-dimensional coordinate system, and planning a traveling path of the traveling crane unit.
Optionally, the constructing a three-dimensional coordinate system by means of laser navigation includes:
establishing a three-dimensional coordinate system by taking the moving direction of a travelling crane trolley on a travelling crane cart as an X axis, the moving direction of the travelling crane cart as a Y axis and the moving direction of a telescopic rod as a Z axis;
and when the crane cart and the crane trolley are both positioned at the original point position, emitting laser beams to determine the original point coordinates.
Optionally, the analyzing the operation instruction, determining a working area of the traveling crane unit based on the three-dimensional coordinate system, and planning a traveling path of the traveling crane unit includes:
analyzing the operation instruction and determining a working area of the traveling crane unit;
and continuously moving to obtain the traveling paths of the crane cart and the crane trolley by using X-axis and Y-axis coordinates continuously output by laser navigation based on the three-dimensional coordinate system as target positions of the crane cart and the crane trolley.
Optionally, the moving the traveling crane unit to the working area, and the controlling the multiple mechanical arms on the traveling crane trolley in the traveling crane unit to cooperatively execute the specified traveling crane operation includes:
controlling the traveling crane cart and the traveling crane trolley to move to respective target positions based on traveling paths of the traveling crane cart and the traveling crane trolley respectively;
and cooperatively executing the specified travelling crane operation by controlling a plurality of mechanical arms on the travelling crane trolley.
Optionally, the cooperatively executing the specified traveling crane operation by controlling a plurality of mechanical arms on the traveling crane trolley includes:
judging at least one end effector required by the traveling crane trolley to execute the specified traveling crane operation based on the operation instruction;
controlling a plurality of mechanical arms on the traveling crane trolley to simultaneously grab the same end effector to cooperatively complete the specified traveling crane operation; or
And controlling a plurality of mechanical arms on the traveling crane trolley to respectively grab different end effectors to cooperatively complete the specified traveling crane operation.
Optionally, the controlling the plurality of robot arms on the traveling crane trolley to simultaneously grab the same end effector to cooperatively complete the specified traveling crane operation includes:
if the end effector required by the traveling crane trolley to execute the specified traveling crane operation is judged to be one, controlling a plurality of mechanical arms on the traveling crane trolley to grab the same end effector to synchronously execute the specified traveling crane operation;
and if the end effectors required by the specified travelling crane operation executed by the travelling crane trolley are multiple, determining the execution sequence of the multiple end effectors according to the operation instruction, controlling multiple machines on the travelling crane trolley to grab and switch the same end effectors at the same time based on the execution sequence of the multiple end effectors, and executing the specified travelling crane operation synchronously.
Optionally, the controlling of the multiple mechanical arms on the traveling crane trolley to respectively grab different end effectors to cooperatively complete the specified traveling crane operation includes:
if the specified hoisting operation needs to be executed by the hoisting trolley, controlling a plurality of mechanical arms on the hoisting trolley to respectively grab different end effectors;
determining execution sequences of the multiple end effectors according to the operation instructions, and controlling the end effectors grabbed by the multiple mechanical arms to cooperatively execute the specified travelling crane operation based on the execution sequences of the multiple end effectors.
Optionally, the cooperatively executing the specified traveling crane operation by controlling a plurality of robot arms on the traveling crane trolley further includes:
acquiring continuous first image data of a plurality of angles of the travelling crane trolley when the specified travelling crane operation is executed through an image acquisition device;
coordinating the sequence of the specified line lifting operation executed by the end effectors grabbed by the mechanical arms on the line lifting trolley based on the first image data.
Optionally, after the controlling the plurality of robot arms on the traveling crane trolley to cooperatively perform the specified traveling crane operation, the method further includes:
acquiring second image data of the traveling crane trolley after the designated traveling crane operation is executed through an image acquisition device;
detecting based on the second image data, and judging whether the completion state of the specified hoisting operation meets a preset standard;
if the completion state of the specified hoisting operation meets the preset standard, continuing to execute the next hoisting operation;
and if the completion state of the specified hoisting operation does not meet the preset standard, re-executing the specified hoisting operation.
Optionally, the method further comprises:
and if the sensor arranged on the traveling crane trolley detects that an obstacle with a distance smaller than a preset distance to the traveling crane trolley exists in the execution process of the specified traveling crane operation, executing a preset obstacle avoiding action.
According to another aspect of the present invention, there is provided a fault handling method for a multi-robot crane system, which is applied to any one of the above-mentioned multi-robot crane systems, the method including:
monitoring the working state of a travelling crane trolley in the travelling crane unit in the process that a control system moves the travelling crane unit to a corresponding working area and controls the travelling crane unit to execute the specified travelling crane operation;
if the traveling crane trolley breaks down in the process of executing the specified traveling crane operation, judging the fault type of the fault;
and processing the fault by adopting a preset processing mode based on the fault type.
Optionally, the processing the fault by using a preset processing manner based on the fault type includes:
if the fault is judged to belong to the traveling type fault, recording the current state information of the traveling crane trolley with the fault, then sending serious alarm information, and executing a first preset processing action;
and if the fault is judged to belong to the end effector type fault, sending general alarm information and executing a second preset processing action.
Optionally, the vehicle-type fault includes: the travelling crane trolley cannot travel;
the end effector-like fault includes: communication failures, signal loss, and/or component damage.
Optionally, the executing the first preset processing action includes:
switching the travelling crane trolley to a preset waiting position, and simultaneously replacing the travelling crane trolley with other idle travelling crane trolleys to continue operation;
the executing of the second preset processing action comprises: and repairing the failed travelling crane trolley according to the alarm priority and restarting.
Optionally, the repairing the failed traveling crane trolley according to the alarm priority includes:
resetting the tail end executor of the traveling crane trolley with the fault according to the alarm priority; and/or
And moving the crane trolley with the fault to a preset maintenance position for inspection and repair.
The invention provides a multi-mechanical-arm traveling crane system, a control method and a fault processing method thereof. In addition, the control method provided by the invention accurately forms the working paths of the traveling crane cart and the traveling crane trolley through the three-dimensional coordinate system so as to execute the set process operation on the target building. And can also detect the barrier through the sensor in the implementation process, prevent that the driving from moving the in-process and bumping and influencing the operation of hanging, carry out functions such as quality control to the operation of hanging through image acquisition device. In addition, the invention also provides a fault processing method for the multi-mechanical-arm traveling crane system, which sets different processing modes for different types and different levels of faults so as to efficiently process the faults which may occur in the multi-mechanical-arm traveling crane system and further efficiently complete the specified traveling crane operation.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic diagram of a multi-robot traveling crane system according to an embodiment of the invention;
FIG. 2 is a flow chart illustrating a control method of the multi-robot traveling crane system according to an embodiment of the invention;
fig. 3 is a flowchart illustrating a fault handling method of a multi-robot traveling crane system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the invention provides a multi-mechanical-arm traveling crane system which can comprise at least one traveling crane unit and a control system for controlling the traveling crane unit to work. Each row hoist unit may include: one traveling crane cart and a traveling crane cart 5 movably arranged on the traveling crane cart 3, wherein the traveling crane cart 3 in the traveling crane system shown in fig. 1 is provided with the traveling crane cart 5, and a plurality of traveling crane carts can be arranged according to different requirements in practical application, and the invention is not limited. The crane cart 3 comprises two horizontal guide rails 2 arranged on the climbing frame 1 in parallel and a cross beam 31 erected between the two horizontal guide rails 2 and capable of moving transversely along the horizontal guide rails 2, and the crane trolley 5 in the crane unit is arranged on the cross beam 31 of the crane cart 3 in a longitudinally movable manner and used for carrying a crane object. The traveling crane object in this embodiment may be an end effector including a gripper, a tool quick-change device, a spray gun, and the like, or may be different object objects acquired based on the end effector and required for different traveling crane operations.
Specifically, wheels are arranged at two ends of a traveling crane cart 3, the wheels are clamped on a horizontal guide rail 2 on a rail bearing beam, a guide rail driver is directly connected with the wheels, the wheels of the cart are driven to rotate when the guide rail driver is started, the traveling crane cart is driven to transversely move, when the traveling crane cart 3 needs to stop running, the guide rail driver is provided with a brake to stop the cart, and guide wheels are arranged at the end of the traveling crane cart 3 to prevent the cart from sideslipping.
The moving direction of the traveling crane cart 3 and the moving direction of the traveling crane trolley 5 are perpendicular to each other, so that the traveling crane cart 3 and the traveling crane trolley 5 can realize traveling crane operation in a two-dimensional direction (which can be understood as a plane X/Y direction) through the allocation of the control system. A telescopic rod 6 is arranged on the travelling crane trolley 5 along the vertical direction; specifically, the telescopic rod 6 is fixedly arranged on a mechanical arm preset flange plate along the vertical direction through a high-strength bolt; and a plurality of mechanical arms 7 are arranged at the bottom of the telescopic rod 6, the mechanical arms 7 are multi-shaft mechanical arms, the mechanical arms 7 are used for connecting an end effector, and the end effector can be a mechanical arm or other equipment according to the actual hoisting operation requirement. As can be seen from fig. 1, the fixing portion 4 is provided between the extendable rod 6 and the plurality of robot arms 7, and the plurality of robot arms 7 are provided on the extendable rod 6 via the fixing portion 4. Alternatively, the fixing portion 4 is a plate with a certain thickness or other shapes, and the invention is not limited thereto.
The crane cart 3 and the crane trolley 5 can be provided with guide rail drivers which are respectively in communication connection with the control system. The guide rail driver of the travelling crane trolley 5 is fixedly arranged on the body of the travelling crane trolley 5 and is electrically connected with the control system through a flat cable; the guide rail driver is used for driving wheels of the traveling crane trolley 5 to slide on the guide rail of the traveling crane cart; in this embodiment, the telescopic rod is arranged on the traveling crane trolley, so as to adjust the working space in the vertical direction (which can be understood as the plane Z direction) of the traveling crane trolley.
Based on the same inventive concept, the embodiment of the invention also provides a control method of the multi-mechanical-arm traveling crane system, which is applied to the multi-mechanical-arm traveling crane system shown in fig. 1. Referring to fig. 2, a control method of a multi-robot traveling crane system according to an embodiment of the present invention may include:
step S201, receiving an operation instruction for executing specified hoisting operation on the target building, which is input by the remote control end, through the control system.
The remote control end is a far end such as a mobile terminal or a fixed terminal for controlling the multi-mechanical-arm traveling crane system, and corresponding operation instructions can be input according to different processes of different buildings through the remote control end. If reinforcement, reinforcing bar arrangement, wallboard transportation, wallboard installation, aluminium mould transportation, aluminium mould installation, concrete distribution, concrete floating etc. are to different technology orders, after the control instruction to different technologies is received to the system of hanging of multimachine arm line, can automatic operation. In the building construction process, according to different construction processes, an operation instruction can be input at a remote operation end, if steel bar binding is carried out, 1 can be input, 2 can be input during concrete distribution, 3 can be input during wallboard installation, and the like.
And S202, selecting any one row hoisting unit in the row hoisting system based on the operation instruction, and determining a working area of the row hoisting unit when the row hoisting unit executes the specified row hoisting operation.
After receiving the operation instruction from the remote control end, the multi-mechanical-arm traveling crane system can analyze and judge the corresponding process type so as to perform intelligent construction. Because the multi-mechanical-arm traveling crane system provided by the embodiment comprises a plurality of traveling crane units, when the traveling crane operation is executed, any one traveling crane unit can be selected from the plurality of traveling crane units to execute. After the traveling crane unit is selected, the working area of the traveling crane unit when the designated traveling crane operation is executed can be determined. Furthermore, a three-dimensional coordinate system can be established in a laser navigation mode, and after the operation instruction is analyzed, the working area of the traveling and hanging unit is determined based on the three-dimensional coordinate system and the traveling path of the traveling and hanging unit is planned, so that the specified traveling and hanging operation is completed.
As introduced above, each traveling crane unit comprises a traveling crane cart and a traveling crane trolley movably arranged on the traveling crane cart; and a telescopic rod is arranged on the travelling crane trolley along the vertical direction, a mechanical arm is arranged on the telescopic rod, and the mechanical arm can be connected with an end effector. Therefore, when a three-dimensional coordinate system is constructed, the three-dimensional coordinate system can be constructed by taking the moving direction of a travelling crane trolley on a travelling crane trolley as an X axis, the moving direction of the travelling crane trolley as a Y axis and the moving direction of a telescopic rod as a Z axis; and when the crane cart and the crane trolley are both positioned at the original point position, emitting laser beams to determine the coordinates of the original point. And analyzing the operation instruction, and planning a working path for the crane cart and the crane trolley after determining the working area of the crane unit, namely, continuously moving to obtain the travelling paths of the crane cart and the crane trolley by using X-axis and Y-axis coordinates continuously output based on a three-dimensional coordinate system through laser navigation as target positions of the crane cart and the crane trolley. The embodiment can determine the working areas of the crane cart and the crane trolley and the path for moving to the working areas based on the three-dimensional coordinate system, and specifically can quickly generate the traveling paths after determining the target positions of the crane cart and the crane trolley based on the three-dimensional coordinate system, so as to accurately move to the corresponding working areas.
And step S203, moving the traveling crane unit to a working area, and controlling a traveling crane trolley in the traveling crane unit to execute specified traveling crane operation. Further, the traveling crane cart and the traveling crane trolley can be controlled to move to respective target positions based on traveling paths of the traveling crane cart and the traveling crane trolley respectively; and the specified travelling crane operation is cooperatively executed by controlling a plurality of mechanical arms on the travelling crane trolley. When the plurality of mechanical arms on the traveling crane trolley are controlled to cooperatively execute the specified traveling crane operation, at least one end effector required by the traveling crane trolley to execute the specified traveling crane operation can be judged based on the operation instruction, and then the plurality of mechanical arms on the traveling crane trolley are controlled to grab different or same end effectors to cooperatively execute the specified traveling crane operation.
As mentioned above, a given traveling crane operation may be cooperatively performed by controlling a plurality of robotic arms on the traveling crane carriage to grasp different or the same end effector. The two modes will be described in detail below.
Firstly, a plurality of mechanical arms on the traveling crane trolley are controlled to simultaneously grab the same end effector to cooperatively complete the designated traveling crane operation.
And if the end effector required by the traveling crane trolley to execute the specified traveling crane operation is judged to be one, controlling a plurality of mechanical arms on the traveling crane trolley to grab the same end effector to synchronously execute the specified traveling crane operation. That is, the same end effector required for the operation of the crane is simultaneously grasped by the plurality of robot arms of the crane trolley, and the same end effectors work simultaneously to increase the work efficiency. In practical application, the multiple mechanical arms move synchronously through the same moving track, the travelling motion can cover a complete area corresponding to the specified travelling crane operation, interference risks do not exist among the multiple mechanical arms, and the working efficiency of the operation is improved.
And if the end effectors required by the traveling crane trolley to execute the specified traveling crane operation are multiple, determining the execution sequence of the multiple end effectors according to the operation instructions, controlling multiple machines on the traveling crane trolley to simultaneously grab and switch the same end effectors based on the execution sequences of the multiple end effectors, and synchronously executing the specified traveling crane operation. That is, when the multiple end effectors are required to perform the specified line-lifting operation in cooperation, the multiple robot arms may also grasp the same end effector at the same time to perform the same process, and when other end effectors need to be switched, the multiple robot arms may be switched at the same time, and then the multiple robot arms grasp new end effectors to perform the specified line-lifting operation in synchronization. In practical applications, the number of the same end effectors is not limited, and the number of the same actuators can be set according to different requirements under the maximum limit condition.
And secondly, controlling a plurality of mechanical arms on the traveling crane trolley to respectively grab different end effectors to cooperatively complete the specified traveling crane operation.
If the multiple types of equipment are needed for the traveling crane trolley to execute the specified traveling crane operation, controlling the multiple mechanical arms on the traveling crane trolley to respectively grab different end effectors; determining the execution sequence of various end effectors according to the operation instruction, and respectively controlling the end effectors grabbed by the plurality of mechanical arms to cooperatively execute the specified travelling crane operation based on the execution sequence of the various end effectors. For example: the end effector captured by the AB mechanical arm can act simultaneously under the condition that 1 and 4 have no interference, if 2 and 5 have interference, the end effector captured by the A mechanical arm is allowed to enter 5 procedures after the end effector captured by the A mechanical arm completes 2, and thus the end effectors complete the operation in a staggered and coordinated mode.
In practical application, after the traveling crane reaches a specified position, the control system can judge the number of the required end effectors according to the received operation instruction, and further judge whether the multiple mechanical arms can work simultaneously.
Optionally, in the multi-mechanical-arm traveling crane system provided by the embodiment of the present invention, the traveling crane trolley is further provided with an image acquisition device mechanical arm, the image acquisition device mechanical arm is provided with an image acquisition device, and the image acquisition device is electrically connected with the control system; when a plurality of mechanical arms of the traveling crane trolley are controlled to automatically grab corresponding end effectors to cooperatively execute specified traveling crane operation, continuous first image data of a plurality of angles of the traveling crane trolley during the time of executing the specified traveling crane operation can be acquired through the image acquisition device; and coordinating the sequence of the specified line lifting operation executed by the end effectors grabbed by the mechanical arms on the line lifting trolley based on the first image data. The number of image acquisition devices, preferably 3D smart cameras, can also be adjusted according to different needs. In the working process of the travelling crane trolley, the image acquisition device can be used for photographing and detecting to determine the execution sequence of the mechanical arms on the travelling crane trolley, so that the smooth proceeding of the process operation is ensured, and the mutual interference between the two mechanical arms is prevented from influencing the operation process. For example, for the wall column steel bar binding operation, two mechanical arms are needed to carry out the operation together, at the moment, a program calls two A/B mechanical arms on a traveling crane trolley to respectively grab needed actuators, an A grab and a B welding machine firstly grab the steel bars for fitting after the preparation work is finished, the B mechanical arm carries out flash butt welding after the fitting is confirmed, if the actions of the two arms are interfered, the B mechanical arm has to wait for the completion of the work of the A work and then moves, and if the two arms are not interfered, the B mechanical arm can simultaneously move to a welding waiting position to reduce the working beat.
In addition to the above description, in the embodiment of the present invention, the image acquisition device may further obtain second image data of the traveling crane trolley after the designated traveling crane operation is performed; detecting based on the second image data, and judging whether the completion state of the specified hoisting operation meets a preset standard; if the completion state of the specified hoisting operation meets the preset standard, continuing to execute the next hoisting operation; and if the completion state of the specified hoisting operation does not meet the preset standard, re-executing the specified hoisting operation.
Taking reinforcement bar binding as an example, whether the operation meets the standard or not can be judged for the second image data in two ways. Firstly, shooting once before binding and shooting once after binding, and judging whether the binding is carried out or not based on the difference value of the two images; and secondly, training based on an SVM algorithm to obtain a classifier, and classifying whether binding exists or not. According to the embodiment of the invention, the image data before and after the specified line hoisting operation is executed can be respectively obtained through the image acquisition device, and whether the specified line hoisting operation is finished or not is judged according to the difference of the two groups of image data before and after the specified line hoisting operation is executed. The classifier may also be trained in advance, the image data is acquired after the specified line hanging operation is executed, and after the image data is input into the classifier trained in advance, whether the image data is the image data after the specified line hanging operation is successfully executed may be judged. By adopting the mode, the process corresponding to the crane operation can be judged, and meanwhile, the functions of quality inspection and the like can be achieved.
The multi-mechanical-arm traveling crane system provided by the embodiment of the invention is characterized in that the traveling crane trolley is also provided with a sensor mechanical arm, the sensor mechanical arm is provided with a sensor, and if the sensor arranged on the traveling crane trolley detects that an obstacle with a distance smaller than a preset distance from the traveling crane trolley exists in the execution process of specified traveling crane operation, a preset obstacle avoiding action is executed. The sensor is preferably a laser sensor. That is to say, the sensor is arranged on the travelling crane trolley to detect the obstacle, and if the travelling crane trolley detects that the travelling crane trolley possibly collides with the obstacle in the running process through the sensor, a preset obstacle avoidance action can be performed, for example, the telescopic rod is lifted to cross the obstacle.
Different faults may occur in the process that the multi-mechanical-arm traveling crane system executes traveling crane operation, for example, when the control system controls two mechanical arms of the traveling crane trolley to perform operation together, at the moment, a program calls the A/B two mechanical arms to respectively grab required actuators, the A grab and the B welding machine, and after preparation work is finished, the A mechanical arms grab steel bars and attach the steel bars. However, a fault may occur during the process of executing the job by a, and the control system may detect the fault by a and perform fault processing.
An embodiment of the present invention further provides a fault handling method for a multi-robot traveling crane system, which is applied to the multi-robot traveling crane system described in any of the above embodiments, and as shown in fig. 3, the fault handling method for the multi-robot traveling crane system provided in the embodiment of the present invention may include:
step S301, monitoring the working state of a travelling crane trolley in a travelling crane unit in the process that a control system moves the travelling crane unit to a corresponding working area and controls the travelling crane unit to execute specified travelling crane operation;
step S302, if a fault occurs in the process of executing the specified hoisting operation, judging the fault type of the fault;
and step S303, processing the fault by adopting a preset processing mode based on the fault type. In the above embodiment, the control system mainly controls the traveling crane trolleys in each traveling crane unit to perform the specified traveling crane operation, so that when the working state of each traveling crane unit is detected, the working state of the traveling crane trolleys in each traveling crane unit can be preferentially monitored.
In the automatic operation process of the multi-mechanical-arm traveling crane system, if a simple fault occurs, fault information is sent to inform maintenance personnel to carry out maintenance, and if a serious fault occurs, the normal operation of a single traveling crane is influenced, other processing can be automatically carried out. By adopting different treatment measures for different fault types, the fault can be timely treated, and the normal execution of the specified crane operation of the multi-mechanical-arm crane system can be ensured.
Optionally, the step S303 may further include: if the fault is judged to belong to the traveling type fault, recording the current state information of the traveling crane trolley with the fault, then sending serious alarm information, and executing a first preset processing action; and if the fault is judged to belong to the end effector type fault, sending general alarm information and executing a second preset processing action. The driving faults can include the fault that the travelling crane trolley cannot travel, namely the fault that a servo motor with an actuator fails or the fault that the mechanical fault cannot travel and the like; end effector-like faults may include: communication failures, signal loss and/or damage to parts and components are failures of the equipment, such as trowelling machine, which implements the specific process.
In addition, the embodiment of the invention adopts a graded alarm system for faults and takes different processing actions for different alarm information. Executing a first preset processing action on the serious alarm information, which may include: and switching the traveling crane trolley to a preset standby position, and simultaneously replacing the traveling crane trolley with other idle traveling crane trolleys in the multi-mechanical arm traveling crane system to continue operation. The second preset processing action performed on the general alarm information may include: and repairing the failed travelling crane trolley according to the alarm priority and restarting. For example, the end effector of the traveling crane trolley with a fault can be reset according to the alarm priority; and/or moving the traveling crane trolley with the fault to a preset maintenance position for inspection and repair, and further judging whether to switch the end effector.
Faults can be classified by both the time and severity of the troubleshooting: simple faults, general faults and/or critical faults; simple faults include faults that can restore a normal operating state after reset restart operations; general faults include: loss of signal or line fault, etc.; serious failures include: mechanical impact or electrical damage, etc. The serious fault is treated preferentially by overhauling according to the alarm priority, so that the fault traveling crane is prevented from causing serious influence on the whole traveling crane operation.
As described above, for some faults, the current state information of the traveling crane trolley with the fault can be recorded, and the state information can include: the working state, the process information, the traveling position and the like of the traveling crane trolley with the fault are recorded, and then the state information of the traveling crane trolley with the fault can be returned to the remote control end for visual display so as to be convenient for the staff to check; if the fault traveling crane cannot work immediately, after other traveling cranes finish self work, other traveling cranes are switched to the fault traveling crane pointer to take over the working state when the fault traveling crane stops to continue working, and therefore the multi-mechanical-arm traveling crane system is guaranteed to smoothly carry out specified traveling crane operation.
The embodiment of the invention provides a multi-mechanical-arm traveling crane system, a control method and a fault processing method thereof. In addition, the control method provided by the embodiment of the invention accurately forms the working paths of the traveling crane cart and the traveling crane trolley through the three-dimensional coordinate system so as to execute the set process operation on the target building. And can also detect the barrier through the sensor in the implementation process, prevent that the driving from moving the in-process and bumping and influencing the operation of hanging, carry out functions such as quality control to the operation of hanging through image acquisition device. In addition, the embodiment of the invention also provides a fault processing method for the multi-mechanical-arm traveling crane system, and different processing modes are set for different types and different levels of faults so as to efficiently process the faults which may occur in the multi-mechanical-arm traveling crane system and further efficiently complete the specified traveling crane operation.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (17)
1. A multi-mechanical-arm traveling crane system comprises a plurality of traveling crane units and a control system for controlling the traveling crane units to work; wherein the content of the first and second substances,
each traveling crane unit comprises a traveling crane cart and a traveling crane trolley movably arranged on the traveling crane cart; the moving direction of the travelling crane cart is vertical to that of the travelling crane trolley;
the lifting trolley is provided with a telescopic rod along the vertical direction, the telescopic rod is provided with a plurality of mechanical arms, and the lifting trolley is connected with an end effector through the mechanical arms;
the travelling crane trolley is also provided with an image acquisition device mechanical arm, an image acquisition device is arranged on the image acquisition device mechanical arm, and the image acquisition device is in communication connection with the control system;
the image acquisition device is used for acquiring continuous first image data of a plurality of angles when the travelling crane trolley executes specified travelling crane operation;
and the control system is used for coordinating the sequence of the specified travelling crane operation executed by the end effector grabbed by each mechanical arm on the travelling crane trolley based on the first image data.
2. The multi-robot arm traveling crane system according to claim 1, wherein a fixing portion is provided between the telescopic rod and the plurality of robot arms, and the plurality of robot arms are provided on the telescopic rod via the fixing portion.
3. The multi-robot-arm traveling crane system according to claim 1, wherein the traveling crane cart in each of the traveling crane units includes two horizontal rails disposed in parallel on the creeper and a cross member erected between the two horizontal rails and movable along the horizontal rails;
and the traveling crane trolley in the traveling crane unit is longitudinally movably arranged on a cross beam of the traveling crane cart.
4. The multi-robot-arm traveling crane system according to claim 1, wherein the traveling crane trolley is further provided with a sensor robot, the sensor robot is provided with a sensor, and the sensor is electrically connected with the control system and used for detecting obstacles.
5. The multi-robot-arm traveling crane system according to any one of claims 1 to 4, wherein the traveling crane cart and the traveling crane cart are respectively provided with a guide rail driver thereon; and the guide rail drivers on the travelling crane cart and the travelling crane trolley are respectively in communication connection with the control system.
6. A control method of a multi-robot traveling crane system, which is applied to the multi-robot traveling crane system according to any one of claims 1 to 5, the method comprising:
receiving an operation instruction for executing specified hoisting operation on the target building, which is input by a remote control end, through the control system;
selecting any one row hoisting unit in the row hoisting system based on the operation instruction, and determining a working area when the row hoisting unit executes the specified row hoisting operation;
moving the traveling crane unit to the working area, and controlling a traveling crane trolley in the traveling crane unit to execute the specified traveling crane operation;
the step of controlling the traveling crane trolley in the traveling crane unit to execute the specified traveling crane operation comprises the following steps: the specified travelling crane operation is cooperatively executed by controlling a plurality of mechanical arms on the travelling crane trolley; further, acquiring continuous first image data of a plurality of angles of the traveling crane trolley during the execution of the specified traveling crane operation through an image acquisition device; coordinating the sequence of executing the specified line lifting operation by the end effectors grabbed by the mechanical arms on the line lifting trolley based on the first image data;
the method for cooperatively executing the specified traveling crane operation by controlling the plurality of mechanical arms on the traveling crane trolley comprises the following steps:
judging at least one end effector required by the traveling crane trolley to execute the specified traveling crane operation based on the operation instruction;
controlling a plurality of mechanical arms on the traveling crane trolley to simultaneously grab the same end effector to cooperatively complete the specified traveling crane operation; or
And controlling a plurality of mechanical arms on the traveling crane trolley to respectively grab different end effectors to cooperatively complete the specified traveling crane operation.
7. The method of claim 6, wherein the determining a work area when the traveling crane unit performs the specified traveling crane operation comprises:
constructing a three-dimensional coordinate system in a laser navigation mode;
analyzing the operation instruction, determining a working area of the traveling crane unit based on the three-dimensional coordinate system, and planning a traveling path of the traveling crane unit.
8. The method of claim 7, wherein said constructing a three-dimensional coordinate system by way of laser navigation comprises:
establishing a three-dimensional coordinate system by taking the moving direction of a travelling crane trolley on a travelling crane cart as an X axis, the moving direction of the travelling crane cart as a Y axis and the moving direction of a telescopic rod as a Z axis;
and when the crane cart and the crane trolley are both positioned at the original point position, emitting laser beams to determine the original point coordinates.
9. The method of claim 7, wherein the analyzing the operating instructions, determining a working area of the traveling crane unit based on the three-dimensional coordinate system, and planning a walking path of the traveling crane unit comprises:
analyzing the operation instruction and determining a working area of the traveling crane unit;
and continuously moving to obtain the traveling paths of the crane cart and the crane trolley by using X-axis and Y-axis coordinates continuously output by laser navigation based on the three-dimensional coordinate system as target positions of the crane cart and the crane trolley.
10. The method of claim 9, wherein the moving the traveling crane unit to the work area, and the controlling the plurality of robotic arms on the traveling crane trolley in the traveling crane unit to cooperatively perform the specified traveling crane operation comprises:
controlling the traveling crane cart and the traveling crane trolley to move to respective target positions based on traveling paths of the traveling crane cart and the traveling crane trolley respectively;
and cooperatively executing the specified travelling crane operation by controlling a plurality of mechanical arms on the travelling crane trolley.
11. The method of claim 6, wherein said controlling a plurality of robotic arms on said traveling gantry to simultaneously grasp the same end effector to cooperatively perform said specified traveling operation comprises:
if the end effector required by the traveling crane trolley to execute the specified traveling crane operation is judged to be one, controlling a plurality of mechanical arms on the traveling crane trolley to grab the same end effector to synchronously execute the specified traveling crane operation;
and if the end effectors required by the specified travelling crane operation executed by the travelling crane trolley are multiple, determining the execution sequence of the multiple end effectors according to the operation instruction, controlling multiple machines on the travelling crane trolley to grab and switch the same end effectors at the same time based on the execution sequence of the multiple end effectors, and executing the specified travelling crane operation synchronously.
12. The method as claimed in claim 6, wherein said controlling the plurality of robot arms on the traveling crane trolley to respectively grab different end effectors to cooperatively complete the specified traveling crane operation comprises:
if the specified hoisting operation needs to be executed by the hoisting trolley, controlling a plurality of mechanical arms on the hoisting trolley to respectively grab different end effectors;
determining execution sequences of the multiple end effectors according to the operation instructions, and controlling the end effectors grabbed by the multiple mechanical arms to cooperatively execute the specified travelling crane operation based on the execution sequences of the multiple end effectors.
13. The method according to any one of claims 6-12, wherein after said performing said specified traveling crane operation in coordination by controlling a plurality of robotic arms on said traveling crane trolley, further comprises:
acquiring second image data of the traveling crane trolley after the designated traveling crane operation is executed through an image acquisition device;
detecting based on the second image data, and judging whether the completion state of the specified hoisting operation meets a preset standard;
if the completion state of the specified hoisting operation meets the preset standard, continuing to execute the next hoisting operation;
and if the completion state of the specified hoisting operation does not meet the preset standard, re-executing the specified hoisting operation.
14. The method according to any one of claims 6-12, wherein the method further comprises:
and if the sensor arranged on the traveling crane trolley detects that an obstacle with a distance smaller than a preset distance to the traveling crane trolley exists in the execution process of the specified traveling crane operation, executing a preset obstacle avoiding action.
15. A fault handling method for a multi-robot traveling crane system, which is applied to the multi-robot traveling crane system according to any one of claims 1 to 5, the method comprising:
monitoring the working state of a travelling crane trolley in the travelling crane unit in the process that a control system moves the travelling crane unit to a corresponding working area and controls the travelling crane unit to execute the specified travelling crane operation;
if the traveling crane trolley breaks down in the process of executing the specified traveling crane operation, judging the fault type of the fault;
processing the fault by adopting a preset processing mode based on the fault type;
the processing the fault by adopting a preset processing mode based on the fault type comprises the following steps:
if the fault is judged to belong to the traveling type fault, recording the current state information of the traveling crane trolley with the fault, then sending serious alarm information, and executing a first preset processing action;
if the fault is judged to belong to the end effector type fault, sending general alarm information and executing a second preset processing action;
the executing the first preset processing action comprises: switching the travelling crane trolley to a preset waiting position, and simultaneously replacing the travelling crane trolley with other idle travelling crane trolleys to continue operation;
the executing of the second preset processing action comprises: and repairing the failed travelling crane trolley according to the alarm priority and restarting.
16. The method of claim 15, wherein the driving class fault comprises: the travelling crane trolley cannot travel;
the end effector-like fault includes: communication failures, signal loss, and/or component damage.
17. The method of claim 15, wherein the repairing the failed traveling crane trolley according to the alarm priority comprises:
resetting the tail end executor of the traveling crane trolley with the fault according to the alarm priority; and/or
And moving the crane trolley with the fault to a preset maintenance position for inspection and repair.
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| CN114800895A (en) * | 2021-01-29 | 2022-07-29 | 广东博智林机器人有限公司 | Roughening device, roughening control method thereof, and roughening control device |
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