CN112904865A - Method and system for controlling transportation of ceramic material and computer readable storage medium - Google Patents
Method and system for controlling transportation of ceramic material and computer readable storage medium Download PDFInfo
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- CN112904865A CN112904865A CN202110117672.0A CN202110117672A CN112904865A CN 112904865 A CN112904865 A CN 112904865A CN 202110117672 A CN202110117672 A CN 202110117672A CN 112904865 A CN112904865 A CN 112904865A
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- 229910010293 ceramic material Inorganic materials 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 title claims abstract description 42
- 239000000919 ceramic Substances 0.000 claims abstract description 72
- 230000005484 gravity Effects 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000011897 real-time detection Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 1
- 238000005467 ceramic manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention relates to the technical field of ceramic production, in particular to a method and a system for controlling the transportation of ceramic materials and a computer readable storage medium, wherein a grid map of a transportation section from a discharge hole to a storage point of the ceramic materials is established, and control nodes are arranged at each intersection in the grid map; then, carrying out real-time detection on the ceramic model by an AGV (automatic guided vehicle) carrying out ceramic loading at a discharge port of the ceramic material, and determining a first arriving control node according to the ceramic model; when the AGV reads the current planned path sent by each control node, the AGV reaches the next control node according to the current planned path until the ceramic material is transported to a storage point, wherein the storage point is the last control node.
Description
Technical Field
The invention relates to the technical field of ceramic production, in particular to a method and a system for controlling the transportation of ceramic materials and a computer readable storage medium.
Background
In the ceramic manufacturing process, the ceramic classified storage is the last important process, the traditional manual sorting wastes time and labor, the problem of misclassification exists, and the development requirement of current intelligent manufacturing cannot be adapted, so that a high-efficiency and reliable ceramic material transportation means is urgently needed to solve the problem in the existing ceramic material transportation.
Disclosure of Invention
The invention provides a method, a system and a computer-readable storage medium for controlling the transportation of ceramic materials, which are used for solving one or more technical problems in the prior art and at least providing a beneficial selection or creation condition.
In order to achieve the purpose, the invention provides the following technical scheme:
a method of controlling the transport of ceramic material, the method comprising the steps of:
establishing a grid map of a transportation section from a discharge hole of the ceramic material to a storage point, and arranging control nodes at each intersection in the grid map;
the method comprises the following steps that an AGV (automatic guided vehicle) which carries out ceramic loading at a discharge hole of a ceramic material detects the ceramic model in real time, and determines a first arriving control node according to the ceramic model;
and the AGV reads the current planned path sent by each control node, and arrives at the next control node according to the current planned path until the ceramic material is transported to a storage point, wherein the storage point is the last control node.
Further, the ceramic material comprises a plurality of discharge ports, and each discharge port is used for outputting one ceramic model; the grid map comprises a plurality of transportation paths from a discharge port of the ceramic material to a storage point.
Further, the establishing of the grid map of the transportation section from the discharge port of the ceramic material to the storage point comprises the following steps:
acquiring a plane map of a transportation section from a discharge hole of a ceramic material to a storage point, wherein the road width in the plane map is consistent with the size of an intersection;
and taking the size of the intersection in the plane map as the size of a grid, dividing the plane map into the grid map according to the grid, wherein each intersection in the plane map occupies one grid.
Further, the setting of the control node at each intersection in the grid map includes:
the method comprises the steps that control nodes are arranged at each intersection in the grid map, each control node comprises a microcontroller, a two-dimensional code display and a gravity sensor, the two-dimensional code display and the gravity sensor are respectively connected with the microcontrollers, the controllers are in communication connection with a cloud server, and the microcontrollers are used for reporting gravity change information to the cloud server when the gravity sensors monitor gravity changes; and displaying the two-dimensional code image sent by the cloud server in real time.
Further, AGV real-time detection ceramic model that carries out ceramic loading at the discharge gate of ceramic material, according to the first control node that ceramic model confirmed reachs includes:
in the process of ceramic loading by the AGV, controlling an image recognition module arranged on the AGV to acquire a ceramic image of a discharge port in real time;
the AGV determines the ceramic model according to the image characteristics of the ceramic image, wherein the image characteristics comprise at least one of a ceramic surface image, a ceramic outer contour and a ceramic thickness;
the AGV is according to the pottery model from the inquiry of preset path table with the control node that the pottery model corresponds, will the control node is as controlling the first control node that the ceramic material arrived, and control the ceramic material arrives first control node.
Further, the determining the ceramic model according to the image features of the ceramic image includes:
extracting image features of the ceramic image, respectively comparing the image features with a pre-stored image feature library, and taking the ceramic model with the highest similarity to the image features of the ceramic image as the ceramic model corresponding to the ceramic image; the image feature library contains image features for each ceramic model.
Further, the method for the AGV to read the current planned path sent by each control node and reach the next control node according to the current planned path until the ceramic material is transported to a storage point includes:
after the AGV reaches the control node, triggering the microcontroller to report gravity change information to a cloud server;
the method comprises the steps that the cloud server obtains the positions of all AGVs in a grid map, the AGVs reporting gravity change information serve as the AGVs to be planned, the rest AGVs in the grid map serve as obstacles, and the current planning path of the AGVs to be planned is determined according to an ant colony algorithm;
the AGV scans a two-dimensional code display of the control node, reads a two-dimensional code image displayed by the two-dimensional code display, and identifies a current planned path contained in the two-dimensional code image; the current planning path is a path from the current control node to the next selected control node;
and the AGV runs to the next selected control node according to the current planned path until reaching a storage point, wherein the storage point is the last selected control node.
A transport control system for ceramic materials, the system comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor may implement the method for controlling transportation of ceramic materials according to any one of the above aspects.
A computer-readable storage medium having stored thereon a transportation control program of a ceramic material, the transportation control program of a ceramic material, when executed by a processor, implementing the steps of the transportation control method of a ceramic material according to any one of the above.
The invention has the beneficial effects that: the invention discloses a method and a system for controlling the transportation of ceramic materials and a computer readable storage medium, wherein the traditional manual transportation mode is changed into an intelligent AGV for transportation, the AGV detects the ceramic model in real time, and determines the arriving first control node according to the ceramic model, so that the ceramics of all models are ensured to be transported to the corresponding control node, and the accurate classification is realized; the planned path of each control node is determined based on the grid map, and the planned path is determined in real time at each control node, so that the efficiency of ceramic material transportation is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a method for controlling the transport of a ceramic material according to an embodiment of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, a method for controlling the transportation of a ceramic material according to an embodiment of the present invention is shown in fig. 1, and the method includes the following steps:
s100, establishing a grid map of a transportation section from a discharge hole of the ceramic material to a storage point, and setting control nodes at each intersection in the grid map;
s200, carrying out real-time detection on ceramic models by an AGV (automatic guided vehicle) carrying out ceramic loading at a discharge port of a ceramic material, and determining a first arriving control node according to the ceramic models;
and step S300, the AGV reads the current planned path sent by each control node, and reaches the next control node according to the current planned path until the ceramic materials are transported to a storage point.
In a modified embodiment, the ceramic material comprises a plurality of discharge ports, and each discharge port is used for outputting one ceramic model; the two-dimensional map comprises a plurality of transportation paths from the discharge port of the ceramic material to the storage point.
In a modified embodiment, in step S100, the creating a grid map of the transportation area from the discharge port to the storage point of the ceramic material includes:
acquiring a plane map of a transportation section from a discharge hole of a ceramic material to a storage point, wherein the road width in the plane map is consistent with the size of an intersection;
and taking the size of the intersection in the plane map as the size of a grid, dividing the plane map into the grid map according to the grid, wherein each intersection in the plane map occupies one grid.
In an improved embodiment, in step S100, the setting a control node at each intersection in the grid map includes:
the method comprises the steps that control nodes are arranged at each intersection in the grid map, each control node comprises a microcontroller, a two-dimensional code display and a gravity sensor, the two-dimensional code display and the gravity sensor are respectively connected with the microcontrollers, the controllers are in communication connection with a cloud server, and the microcontrollers are used for reporting gravity change information to the cloud server when the gravity sensors monitor gravity changes; and displaying the two-dimensional code image sent by the cloud server in real time.
In a modified embodiment, the step S200 includes:
in the process of ceramic loading by the AGV, controlling an image recognition module arranged on the AGV to acquire a ceramic image of a discharge port in real time;
the AGV determines the ceramic model according to the image characteristics of the ceramic image, wherein the image characteristics comprise at least one of a ceramic surface image, a ceramic outer contour and a ceramic thickness;
the AGV is according to the pottery model from the inquiry of preset path table with the control node that the pottery model corresponds, will the control node is as controlling the first control node that the ceramic material arrived, and control the ceramic material arrives first control node.
In an improved embodiment, the determining the ceramic model number according to the image feature of the ceramic image comprises:
extracting image features of the ceramic image, respectively comparing the image features with a pre-stored image feature library, and taking the ceramic model with the highest similarity to the image features of the ceramic image as the ceramic model corresponding to the ceramic image; the image feature library contains image features for each ceramic model.
In a modified embodiment, the step S300 includes:
after the AGV reaches the control node, triggering the microcontroller to report gravity change information to a cloud server;
the method comprises the steps that the cloud server obtains the positions of all AGVs in a grid map, the AGVs reporting gravity change information serve as the AGVs to be planned, the rest AGVs in the grid map serve as obstacles, and the current planning path of the AGVs to be planned is determined according to an ant colony algorithm;
the AGV scans a two-dimensional code display of the control node, reads a two-dimensional code image displayed by the two-dimensional code display, and identifies a current planned path contained in the two-dimensional code image; the current planning path is a path from the current control node to the next selected control node; the storage point is the last selected control node;
and the AGV runs to the next selected control node according to the current planned path until reaching the storage point.
Corresponding to the method of fig. 1, an embodiment of the present invention further provides a system for controlling the transportation of ceramic materials, the system including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor may implement the method for controlling transportation of ceramic materials according to any of the above embodiments.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
Corresponding to the method of fig. 1, an embodiment of the present invention further provides a computer-readable storage medium, on which a transportation control program of a ceramic material is stored, and when the transportation control program of the ceramic material is executed by a processor, the steps of the transportation control method of the ceramic material according to any one of the above embodiments are implemented.
The Processor may be a Central-Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application-Specific-Integrated-Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the transport control system for the ceramic material, the various parts of the transport control system operable device for the entire ceramic material being connected by various interfaces and lines.
The memory may be used to store the computer program and/or the module, and the processor may implement various functions of the transportation control system of the ceramic materials by operating or executing the computer program and/or the module stored in the memory and calling data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart-Media-Card (SMC), a Secure-Digital (SD) Card, a Flash-memory Card (Flash-Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
While the present invention has been described in considerable detail and with particular reference to a few illustrative embodiments thereof, it is not intended to be limited to any such details or embodiments or any particular embodiments, but rather it is to be construed that the invention effectively covers the intended scope of the invention by virtue of the prior art providing a broad interpretation of such claims in view of the appended claims. Furthermore, the foregoing describes the invention in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the invention, not presently foreseen, may nonetheless represent equivalent modifications thereto.
Claims (9)
1. A method for controlling the transport of ceramic materials, comprising the steps of:
establishing a grid map of a transportation section from a discharge hole of the ceramic material to a storage point, and arranging control nodes at each intersection in the grid map;
the method comprises the following steps that an AGV (automatic guided vehicle) which carries out ceramic loading at a discharge hole of a ceramic material detects the ceramic model in real time, and determines a first arriving control node according to the ceramic model;
and the AGV reads the current planned path sent by each control node, and arrives at the next control node according to the current planned path until the ceramic material is transported to a storage point, wherein the storage point is the last control node.
2. The method as claimed in claim 1, wherein the ceramic material comprises a plurality of outlets, each outlet being for outputting a ceramic type; the grid map comprises a plurality of transportation paths from a discharge port of the ceramic material to a storage point.
3. The method for controlling the transportation of ceramic materials according to claim 2, wherein the establishing of the grid map of the transportation section from the discharge port to the storage point of the ceramic materials comprises:
acquiring a plane map of a transportation section from a discharge hole of a ceramic material to a storage point, wherein the road width in the plane map is consistent with the size of an intersection;
and taking the size of the intersection in the plane map as the size of a grid, dividing the plane map into the grid map according to the grid, wherein each intersection in the plane map occupies one grid.
4. The method for controlling the transportation of ceramic materials according to claim 1, wherein the setting of control nodes at each intersection in the grid map comprises:
the method comprises the steps that control nodes are arranged at each intersection in the grid map, each control node comprises a microcontroller, a two-dimensional code display and a gravity sensor, the two-dimensional code display and the gravity sensor are respectively connected with the microcontrollers, the controllers are in communication connection with a cloud server, and the microcontrollers are used for reporting gravity change information to the cloud server when the gravity sensors monitor gravity changes; and displaying the two-dimensional code image sent by the cloud server in real time.
5. The method as claimed in claim 4, wherein the AGV detecting ceramic loading at the ceramic material outlet real-time detects ceramic model, and determines the first control node according to the ceramic model, and comprises:
in the process of ceramic loading by the AGV, controlling an image recognition module arranged on the AGV to acquire a ceramic image of a discharge port in real time;
the AGV determines the ceramic model according to the image characteristics of the ceramic image, wherein the image characteristics comprise at least one of a ceramic surface image, a ceramic outer contour and a ceramic thickness;
the AGV is according to the pottery model from the inquiry of preset path table with the control node that the pottery model corresponds, will the control node is as controlling the first control node that the ceramic material arrived, and control the ceramic material arrives first control node.
6. The method for controlling the transportation of ceramic materials according to claim 5, wherein the determining the ceramic model according to the image characteristics of the ceramic image comprises:
extracting image features of the ceramic image, respectively comparing the image features with a pre-stored image feature library, and taking the ceramic model with the highest similarity to the image features of the ceramic image as the ceramic model corresponding to the ceramic image; the image feature library contains image features for each ceramic model.
7. The method for controlling the transportation of ceramic materials according to claim 6, wherein the AGV reads the current planned path sent by each control node, and arrives at the next control node according to the current planned path until the ceramic materials are transported to a storage point, comprising:
after the AGV reaches the control node, triggering the microcontroller to report gravity change information to a cloud server;
the method comprises the steps that the cloud server obtains the positions of all AGVs in a grid map, the AGVs reporting gravity change information serve as the AGVs to be planned, the rest AGVs in the grid map serve as obstacles, and the current planning path of the AGVs to be planned is determined according to an ant colony algorithm;
the AGV scans a two-dimensional code display of the control node, reads a two-dimensional code image displayed by the two-dimensional code display, and identifies a current planned path contained in the two-dimensional code image; the current planning path is a path from the current control node to the next selected control node;
and the AGV runs to the next selected control node according to the current planned path until reaching a storage point, wherein the storage point is the last selected control node.
8. A transport control system for ceramic materials, the system comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the method for controlling transportation of ceramic materials according to any one of claims 1 to 7.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a transportation control program of a ceramic material, which when executed by a processor, implements the steps of the transportation control method of a ceramic material according to any one of claims 1 to 7.
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