CN113896107A - Laser scanning recognition and gripping device and automatic transfer control method - Google Patents
Laser scanning recognition and gripping device and automatic transfer control method Download PDFInfo
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- CN113896107A CN113896107A CN202110963679.4A CN202110963679A CN113896107A CN 113896107 A CN113896107 A CN 113896107A CN 202110963679 A CN202110963679 A CN 202110963679A CN 113896107 A CN113896107 A CN 113896107A
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- overhead traveling
- traveling crane
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
- B66C1/06—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means electromagnetic
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The laser scanning identification and gripping device comprises an upper computer automatic control system, a 3D cloud platform scanner and an overhead traveling crane which are connected through a network, the overhead traveling crane is connected into the network through industrial WIFI and is in wireless control connection with the upper computer automatic control system, and the 3D cloud platform scanner is used for controlling a scanning material pit and/or a transport vehicle to generate point cloud data and transmitting the point cloud data back through the industrial WIFI. Aiming at the problems of poor positioning precision, high labor cost and low loading efficiency in pure manual operation, the unmanned overhead traveling crane automatically schedules production operation, and can realize unmanned ground judgment, material suction, material discharge, material dumping, automatic path planning and reservoir area information management in the whole process.
Description
Technical Field
The invention belongs to the technical field of overhead travelling crane material handling, and particularly relates to a laser scanning recognition and gripping device and an automatic transfer control method.
Background
In the heavy load material handling field, there is following problem in traditional overhead traveling crane operation: 1. generally, the working environment is severe, and for example, dust materials are easy to cause respiratory occupational diseases; 2. the operation is complex, the special crown block worker operation is needed, the labor intensity is high, and potential safety accidents exist; 3. the automation degree is low, the overhead traveling crane is operated manually, and the dependence of manual experience is high; 4. the degree of informatization is low, and the production data in the operation process is recorded manually or not.
At present, scrap steel transfer in a plate workshop of an iron and steel plant mainly adopts an electromagnetic chuck to carry out lifting and loading in a mode of manually operating a crown block. The positioning precision is poor, the labor cost is high and the loading efficiency is low due to pure manual operation. In order to improve the intellectualization degree and the informatization degree of iron and steel enterprises and realize the automatic production requirement of workshops, the investment of an intelligent crown block is imperative.
The patent with the publication number of CN201302125U and named as a full-automatic unmanned hoisting comprehensive control platform discloses a control platform which comprises a three-dimensional scanning system, a reservoir area management system, an overhead traveling crane dispatching system and an electrical control system, wherein the control platform can dispatch and manage overhead traveling cranes, but the control platform does not relate to an automatic control method for identifying and positioning material pits and transport vehicles in the industrial field and the process of material grabbing and unloading.
Disclosure of Invention
Aiming at the technical problems, the invention provides a laser scanning recognition and gripping device which is comprehensive in automation, informatization and high in efficiency and an automatic transfer control method.
The invention adopts the following specific technical scheme:
the utility model provides a laser scanning discernment and grabbing device, includes internet access's host computer automatic control system, 3D cloud platform scanner and overhead traveling crane, the overhead traveling crane passes through industry WIFI access network, realizes wireless control with host computer automatic control system and is connected, 3D cloud platform scanner is by host computer automatic control system control scanning material hole and/or transport vechicle generation point cloud data and pass back through industry WIFI.
Preferably, the crown block is an electromagnetic crown block for grabbing steel materials or a grab bucket crown block for grabbing scattered materials.
Preferably, the upper computer automatic control system comprises an automatic control system and a laser 3D cloud platform scanning and identifying system, so that the reasonable dispatching of the crown block and the control of the crown block to complete the full-automatic loading of materials are realized.
Preferably, the 3D pan/tilt scanner comprises a material pit laser scanner and a parking space laser scanner.
An automatic transfer control method based on any one of the laser scanning recognition and gripping devices comprises the following steps:
s1, recognizing a material suction point and sucking materials:
s11: the overhead traveling crane controls the electromagnet to rise, and the material pit scanner is started when the position of the electromagnet is monitored in real time to the height of the electromagnet, so that the material pit can not be shielded by the material pit laser scanner;
s12: analyzing data uploaded by a material pit laser scanner, preferentially selecting materials in a feeding area as material absorption points, and controlling a crown block to absorb the materials; if no material pit is available for sucking materials, jumping to the process S3;
s13: when the overhead traveling crane controls the electromagnet to descend, monitoring the position of the electromagnet in real time until the height of the electromagnet does not shield the parking space laser scanner from scanning the parking space, and starting the parking space laser scanner;
s14: analyzing data uploaded by a parking space laser scanner, and analyzing whether a transport vehicle is on a parking space and the state of materials on the transport vehicle;
s15: the crown block executes and finishes the material sucking action;
s2, identifying and discharging a discharging point:
s21: according to the parking space scanning result, a car hopper with empty materials and materials is used as a material discharging point preferentially, and the overhead travelling crane is controlled to execute material discharging action; if no transport vehicle can supply and discharge materials, selecting a material pouring point defined in the material pit as a material discharging point, and executing a material discharging action;
s22: when the overhead traveling crane executes the material discharging action, the overhead traveling crane controls the electromagnet to rise, and the process returns to the process S11;
s3: and the overhead traveling crane moves to the appointed initial position and quits the loading task.
Preferably, the process of S1-S2 can be used for taking emergency stop measures by an upper computer automatic control system in case of emergency.
Preferably, the identification and positioning method of the S12 material pit laser scanner is as follows:
the method comprises the steps of dividing a material pit into a feeding area and a discharging area according to whether a feeding port exists or not by scanning original three-dimensional point cloud data obtained by the material pit, counting the height value of the inner point of the area, further judging whether the material pit is empty, filled or full, and finally transmitting information to an automatic control system of an upper computer to serve as a basis for selecting a material sucking point.
Preferably, the identification and positioning method of the S14 parking space laser scanner includes:
the method comprises the steps of carrying out partition processing on original three-dimensional point cloud data obtained by scanning parking spaces according to the parking spaces, dividing the parking spaces into three states of no vehicle, vehicle to be loaded and vehicle full, and finally transmitting information to an upper computer automatic control system to serve as a basis for selecting a material discharging point.
Preferably, the material sucking point coordinate and the material discharging point coordinate are used as parameters of a crown block to execute a task and are sent to the crown block, the crown block is informed to execute the task, the crown block selects a corresponding motion track according to the task parameters and in combination with preset site information, the crown block is quickly and accurately positioned by utilizing the self positioning and anti-shaking functions, the follow-up action of the material sucking or discharging task is executed, and finally the execution result is fed back to the upper computer automatic control system.
Preferably, the upper computer automatic control system displays the elevation data of the material pit and the elevation data of the transport vehicle in real time.
The invention has the beneficial effects that:
(1) the running control precision of the crown block of the laser scanning recognition and gripping device reaches millimeter level, the full bucket rate averagely exceeds more than 85 percent, and the operation level of skilled workers is reached;
(2) the overhead traveling crane automatically schedules production operation, and unmanned ground judgment, material suction, material discharge, material dumping, automatic path planning and reservoir area information management can be realized in the whole process;
(3) the automatic control system of the upper computer calculates the coordinates of material suction and material discharge and automatically controls the crown block to complete the tasks of material suction and material discharge;
(4) in order to deal with possible sudden situations, three modes of full-automatic, semi-automatic and manual operation are provided, and in order to ensure the safe operation of personnel and equipment, the overhead travelling crane can independently take avoidance, standby and emergency stop measures.
Drawings
FIG. 1 is a block diagram of the laser scanning recognition and capture device of the present invention;
fig. 2 is a flowchart of the automatic transfer control method of the laser scanning recognition and gripping device of the present invention.
Detailed Description
The invention is further illustrated by the following specific examples. The starting materials and methods employed in the examples of the present invention are those conventionally available in the market and conventionally used in the art, unless otherwise specified.
Example 1
As shown in fig. 1, a laser scanning discernment and grabbing device, including host computer automatic control system, 3D cloud platform scanner and overhead traveling crane, all equipment and system pass through the internet access, other ground equipment pass through optic fibre or net twine access network, the overhead traveling crane passes through industry WIFI access network, realize wireless control with host computer automatic control system and be connected (the overhead traveling crane has overhead traveling crane control PLC certainly), 3D cloud platform scanner is by host computer automatic control system control scanning material hole and/or transport vechicle generation point cloud data and pass back through industry WIFI.
The crown block is an electromagnetic crown block for grabbing steel materials or a grab bucket crown block for grabbing scattered materials.
The 3D cloud platform scanner comprises a material pit laser scanner and a parking space laser scanner, point cloud data are generated after scanning, the point cloud data are processed through an upper computer software algorithm, the height of the material pit and the loading height of a transport vehicle body are obtained, a digital elevation model of the material pit and the transport vehicle body is created, the material pit state and the loading information of the transport vehicle are determined in real time, and the material pit material and the transport vehicle carriage profile are identified and positioned.
Host computer automatic control system includes automatic control system and laser 3D cloud platform scanning and identification system (include corresponding control program respectively), realizes the reasonable dispatch of overhead traveling crane and controls the overhead traveling crane and accomplishes the full-automatic loading of material, possesses following function: (1) the account management function is operable after a user name and a password are input for logging in; (2) the operation of the crown block can be suspended in case of emergency; (3) and displaying the elevation data models of the material pit and the transport vehicle in real time, and automatically determining the material grabbing position of the material pit and the material placing position of the transport vehicle.
The method comprises the steps that an upper computer control system is used as a total schedule, a laser 3D cloud platform scanning and recognition system is started to control a 3D cloud platform scanner to scan, elevation data are obtained and analyzed, an automatic control system calculates to obtain a proper material sucking position and a proper material loading and discharging position according to business requirements, the material sucking position coordinate and the discharging position coordinate are sent to an overhead traveling crane as parameters of an overhead traveling crane task to inform the overhead traveling crane to execute the task, the overhead traveling crane selects a corresponding motion track according to the task parameters and in combination with preset site information, the self positioning and anti-shaking functions are used for fast and accurately positioning, follow-up task actions (material sucking and discharging) are executed, and finally an execution result is fed back to the upper computer control system.
The running control precision of the crown block of the laser scanning recognition and gripping device reaches the millimeter rate average level, the full bucket exceeds more than 85 percent, and the operation level of skilled workers is reached; the overhead traveling crane automatically schedules production operation, and unmanned ground judgment, material suction, material discharge, material dumping, automatic path planning and reservoir area information management can be realized in the whole process.
Example 2
As shown in fig. 2, an automatic transfer control method based on the device of embodiment 1 includes the following steps:
s1, recognizing a material suction point and sucking materials:
s11: the overhead traveling crane controls the electromagnet to rise, and the material pit scanner is started when the position of the electromagnet is monitored in real time to the height of the electromagnet, so that the material pit can not be shielded by the material pit laser scanner;
s12: analyzing data uploaded by a material pit laser scanner, preferentially selecting materials in a feeding area as material absorption points, and controlling a crown block to absorb the materials; if there is no material pit for sucking material, go to the process S3. The identification and positioning method of the material pit laser scanner comprises the following steps:
dividing the material pit into a feeding area and a discharging area according to whether a feeding port exists or not by scanning original three-dimensional point cloud data obtained by the material pit, counting the height value of the inner point of the area, further judging whether the material pit is empty, filled or full, and finally transmitting information to an automatic control system of an upper computer to be used as a basis for selecting a material sucking point;
the concrete method for controlling the material suction of the crown block comprises the following steps:
and the coordinates of the material suction point are used as parameters of the overhead travelling crane for executing the material suction task and are sent to the overhead travelling crane, the overhead travelling crane selects a corresponding motion track according to the material suction task parameters and in combination with preset site information, the self positioning and anti-shaking functions are utilized for quickly and accurately positioning, and the action of the material suction task is executed.
S13: when the overhead traveling crane controls the electromagnet to descend, monitoring the position of the electromagnet in real time until the height of the electromagnet does not shield the parking space laser scanner from scanning the parking space, and starting the parking space laser scanner;
s14: and analyzing the uploading data of the parking space laser scanner, and analyzing whether the transport vehicle and the material state on the transport vehicle exist on the parking space. The method for identifying and positioning the parking space laser scanner comprises the following steps:
the method comprises the steps of carrying out partition processing on original three-dimensional point cloud data obtained by scanning parking spaces according to the parking spaces, dividing the parking spaces into three states of no vehicle, vehicle to be loaded and vehicle full, and finally transmitting information to an upper computer automatic control system to serve as a basis for selecting a material discharging point.
S15: the crown block finishes the material sucking action and feeds back the execution result to the upper computer automatic control system.
S2, identifying and discharging a discharging point:
s21: according to the parking space scanning result, a car hopper with empty materials and materials is used as a material discharging point preferentially, and the overhead travelling crane is controlled to execute material discharging action; if no transport vehicle can supply and discharge materials, selecting a material pouring point defined in the material pit as a material discharging point, and executing a material discharging action. The concrete method for controlling the discharging of the crown block comprises the following steps:
and the coordinates of the discharging point are used as parameters of the overhead travelling crane for executing a discharging task and are sent to the overhead travelling crane, the overhead travelling crane selects a corresponding motion track according to the parameters of the discharging task and in combination with preset site information, the self positioning and anti-shaking functions are utilized for quickly and accurately positioning, the action of the discharging task is executed, and finally, the execution result is fed back to an upper computer automatic control system.
S22: when the overhead traveling crane executes the material discharging action, the overhead traveling crane controls the electromagnet to rise, and the process returns to the process S11;
s3: and the overhead traveling crane moves to the appointed initial position and quits the loading task.
In conclusion, when the material sucking task is executed, the parking space can be scanned, the discharging point can be found, the material pit can be scanned when the discharging task is executed, the material sucking point can be found, the operation is repeated in a circulating mode until the material sucking point or the discharging point cannot be found, and the upper computer automatic control system displays the elevation data of the material pit and the elevation data of the transport vehicle in real time. In order to deal with possible emergency, three modes of full-automatic, semi-automatic and manual operation are provided, and meanwhile, in order to ensure the safe operation of personnel and equipment, the functions of on-site monitoring and safety protection are provided, and the overhead traveling crane autonomously takes avoidance, standby and emergency stop measures: and automatically avoiding according to the field condition, and when an emergency exists in the processes of S1-S2, the upper computer automatic control system can take an emergency stop measure. In order to meet the requirement of modern information management, the material information can be traced and managed in the whole process, and the functions of timely inventory, in-out recording and inventory alarming are realized.
Therefore, the automatic transfer control method enables the overhead travelling crane to automatically schedule production operation, can realize unmanned ground judgment, material suction, material discharge, material dumping, automatic path planning and reservoir area informatization management in the whole process, solves the problems of poor positioning precision, high labor cost and low loading efficiency of pure manual operation, and realizes efficient operation of a workshop.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a laser scanning discernment and grabbing device, its characterized in that, host computer automatic control system, 3D cloud platform scanner and overhead traveling crane including the internet access, the overhead traveling crane passes through industry WIFI access network, realizes wireless control with host computer automatic control system and is connected, 3D cloud platform scanner is by host computer automatic control system control scanning material hole and/or transport vechicle generation point cloud data and pass back through industry WIFI.
2. The laser scanning identification and gripping device of claim 1, wherein the crown block is an electromagnetic crown block for steel material gripping or a bucket crown block for scrap gripping.
3. The laser scanning, identifying and grabbing device of claim 1 wherein the automatic control system of the upper computer and the scanning and identifying system of the laser 3D pan-tilt realize the rational scheduling of the overhead traveling crane and control the overhead traveling crane to complete the full automatic loading of the material.
4. The laser scanning, identifying and grasping device according to claim 1, wherein the 3D pan-tilt scanner includes a material pit laser scanner and a parking space laser scanner.
5. An automatic transfer control method based on the laser scanning recognition and gripping device of any one of the claims 1 to 4, characterized by comprising the following steps:
s1, recognizing a material suction point and sucking materials:
s11: the overhead traveling crane controls the electromagnet to rise, and the material pit scanner is started when the position of the electromagnet is monitored in real time to the height of the electromagnet, so that the material pit can not be shielded by the material pit laser scanner;
s12: analyzing data uploaded by a material pit laser scanner, preferentially selecting materials in a feeding area as material absorption points, and controlling a crown block to absorb the materials; if no material pit is available for sucking materials, jumping to the process S3;
s13: when the overhead traveling crane controls the electromagnet to descend, monitoring the position of the electromagnet in real time until the height of the electromagnet does not shield the parking space laser scanner from scanning the parking space, and starting the parking space laser scanner;
s14: analyzing data uploaded by a parking space laser scanner, and analyzing whether a transport vehicle is on a parking space and the state of materials on the transport vehicle;
s15: the crown block executes and finishes the material sucking action;
s2, identifying and discharging a discharging point:
s21: according to the parking space scanning result, a car hopper with empty materials and materials is used as a material discharging point preferentially, and the overhead travelling crane is controlled to execute material discharging action; if no transport vehicle can supply and discharge materials, selecting a material pouring point defined in the material pit as a material discharging point, and executing a material discharging action;
s22: when the overhead traveling crane executes the material discharging action, the overhead traveling crane controls the electromagnet to rise, and the process returns to the process S11;
s3: and the overhead traveling crane moves to the appointed initial position and quits the loading task.
6. The automatic transfer control method according to claim 5, wherein the process of S1-S2 is implemented by an upper computer automatic control system to take emergency stop measures in case of emergency.
7. The automatic transfer control method of claim 5, wherein the identification and positioning method of the S12 pit laser scanner is as follows:
the method comprises the steps of dividing a material pit into a feeding area and a discharging area according to whether a feeding port exists or not by scanning original three-dimensional point cloud data obtained by the material pit, counting the height value of the inner point of the area, further judging whether the material pit is empty, filled or full, and finally transmitting information to an automatic control system of an upper computer to serve as a basis for selecting a material sucking point.
8. The automatic transfer control method according to claim 5, wherein the identification and positioning method of the S14 parking space laser scanner is as follows:
the method comprises the steps of carrying out partition processing on original three-dimensional point cloud data obtained by scanning parking spaces according to the parking spaces, dividing the parking spaces into three states of no vehicle, vehicle to be loaded and vehicle full, and finally transmitting information to an upper computer automatic control system to serve as a basis for selecting a material discharging point.
9. The automatic transfer control method according to claim 5, wherein the coordinates of the material sucking point and the coordinates of the material discharging point are sent to the overhead traveling crane as the parameters of the overhead traveling crane to execute the task, the overhead traveling crane is informed to execute the task, the overhead traveling crane selects a corresponding motion track according to the task parameters and in combination with preset site information, the positioning and anti-shaking functions of the overhead traveling crane are utilized to quickly and accurately position the overhead traveling crane, the subsequent actions of the material sucking or discharging task are executed, and finally the execution results are fed back to the upper computer automatic control system.
10. The automatic transfer control method according to claim 9, wherein the upper computer automatic control system displays elevation data of the material pit and elevation data of the transport vehicle in real time.
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| CN202110963679.4A CN113896107A (en) | 2021-08-20 | 2021-08-20 | Laser scanning recognition and gripping device and automatic transfer control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117602396A (en) * | 2023-11-29 | 2024-02-27 | 中国农业大学 | Automatic following, throwing and filling method for green fodder harvester |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014144836A (en) * | 2013-01-28 | 2014-08-14 | Mitsubishi Heavy Industries Machinery Technology Corp | Container crane |
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2021
- 2021-08-20 CN CN202110963679.4A patent/CN113896107A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014144836A (en) * | 2013-01-28 | 2014-08-14 | Mitsubishi Heavy Industries Machinery Technology Corp | Container crane |
Non-Patent Citations (1)
| Title |
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| 诸华清: "尾矿行车无人智能化改造", 《铜业工程》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117602396A (en) * | 2023-11-29 | 2024-02-27 | 中国农业大学 | Automatic following, throwing and filling method for green fodder harvester |
| CN117602396B (en) * | 2023-11-29 | 2024-04-30 | 中国农业大学 | Automatic following, throwing and filling method for green fodder harvester |
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