CN113928847B - Method and system for determining gesture of steel grabbing machine - Google Patents
Method and system for determining gesture of steel grabbing machine Download PDFInfo
- Publication number
- CN113928847B CN113928847B CN202111249064.1A CN202111249064A CN113928847B CN 113928847 B CN113928847 B CN 113928847B CN 202111249064 A CN202111249064 A CN 202111249064A CN 113928847 B CN113928847 B CN 113928847B
- Authority
- CN
- China
- Prior art keywords
- grabbing machine
- rotation angle
- steel
- steel grabbing
- relative
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
Abstract
The invention provides a method and a system for determining the gesture of a steel grabbing machine, comprising the following steps: reading a bar code strip by using a reading head, and converting the bar code strip into digital character information; acquiring the motion length of the steel grabbing machine relative to the bar code belt zero point according to the digital character information, and calculating the rotation angle of the rotating platform relative to the crawler chassis according to the motion length; and calculating the rotation angle of the rotating platform relative to the initial moment, calculating the rotation angle of the crawler chassis relative to the initial moment, and then determining the posture of the steel grabbing machine at the current moment. According to the invention, based on a mode of identifying the bar code belt, the motion gesture of the steel grabbing machine can be obtained by calculating the relative rotation angle of the crawler chassis of the steel grabbing machine and the rotating platform and combining with the IMU on the rotating platform, so that unmanned operation of the steel grabbing machine is assisted.
Description
Technical Field
The invention relates to the technical field of steel treatment, in particular to a method and a system for determining the gesture of a steel grabbing machine.
Background
In the steel factory scrap steel operation process, the steel grabbing machine is generally used for grabbing and loading scrap steel and other materials, and potential safety hazards are easy to generate due to the fact that the existing steel grabbing machine is low in automation degree and low in working efficiency. Therefore, in order to improve the automation degree of the steel grabbing machine, the existing steel grabbing machine needs to be modified, so that automatic or unmanned grabbing operation can be performed.
If the automatic or unmanned operation of the steel grabbing machine is to be realized, the position and the gesture of the steel grabbing machine during normal non-automatic operation must be known first, and then the steel grabbing machine is controlled to perform automatic operation according to the corresponding position and gesture. For the position of the steel grabbing machine, GPS (Global Positioning System, global positioning system, hereinafter referred to as GPS) is currently used for positioning. However, for the attitude of the steel grabbing machine, as the steel grabbing machine works, the crawler chassis and the rotating platform of the steel grabbing machine can generate rotating motion, for example, the rotating platform or the crawler chassis can rotate for a plurality of circles; when the angle sensor is used for measuring the angle, the angle sensor is generally arranged on the crawler chassis, the power supply and the industrial personal computer are fixed on the rotating platform, if the angle sensor is used for supplying power and transmitting data, the electric wire is necessarily connected to the crawler chassis from the rotating platform, but the rotating platform and the crawler chassis have relative rotation movement, and can infinitely rotate, so that the problems of power supply and data transmission cannot be solved when the angle sensor is used for measuring the relative selection angle of the rotating platform and the crawler chassis in the traditional mode. In addition, as the steel grabbing machine is mainly composed of steel, the steel grabbing machine can influence the geomagnetic field and further influence the accuracy of the angle sensor. Meanwhile, the steel grabbing machine is not designed and manufactured without considering subsequent automatic transformation, so that a rotary encoder cannot be installed on a central rotary joint of the steel grabbing machine to measure the rotation angle, and the gesture of the steel grabbing machine cannot be accurately measured.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a method and a system for determining the posture of a steel grabbing machine, which are used for solving the problem that the posture of the steel grabbing machine cannot be determined when the steel grabbing machine is automatically modified in the prior art.
To achieve the above and other related objects, the present invention provides a method for determining a posture of a steel grabbing machine, comprising the steps of:
reading a bar code strip by using a reading head, and converting the bar code strip into digital character information;
acquiring the motion length of the reading head relative to the bar code belt zero point at the current time according to the digital character information, and calculating the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current time according to the motion length;
calculating the rotation angle of the rotary platform of the steel grabbing machine relative to the initial moment at the current moment;
and determining the gesture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the crawler chassis of the steel grabbing machine at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment.
Optionally, the method further comprises: calculating the rotation angle of the steel grabbing machine crawler chassis relative to the initial moment at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment;
and determining the gesture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine crawler chassis at the current moment relative to the initial moment.
Optionally, the formula for calculating the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment according to the motion length comprises the following steps:
wherein alpha is the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment;
l is the motion length of the reading head relative to the bar code belt zero point at the current moment;
r is the radius of the slewing bearing.
Optionally, the formula for calculating the rotation angle of the rotary platform of the steel grabbing machine relative to the initial moment at the current moment comprises:
wherein t is the sampling step length time of the inertial sensor;
θ′ n angular velocity of the inertial sensor on the reference coordinate system when sampling for the nth time;
θ 0 the included angle of the steel grabbing machine rotating platform under the reference coordinate system is set at the initial moment;
θ is the rotation angle of the rotating platform of the lower steel grabbing machine at the current moment relative to the initial moment;
n=1, 2, …, k, k being a natural number.
Optionally, the process of calculating the rotation angle of the steel grabbing machine crawler chassis relative to the initial moment at the current moment according to the rotation angle of the steel grabbing machine rotation platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine rotation platform relative to the initial moment at the current moment comprises the following steps:
β＝θ-α；
wherein θ is a rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment;
alpha is the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment;
beta is the rotation angle of the crawler chassis of the steel grabbing machine relative to the initial moment at the current moment.
Optionally, before reading the bar code strip with the read head, further comprising pre-processing the bar code strip;
the pretreatment comprises the following steps: and wiping the bar code strip and calibrating the zero point of the bar code strip.
The invention also provides a system for determining the gesture of the steel grabbing machine, which comprises the following steps:
the data acquisition module is used for reading the bar code band by using the reading head and converting the bar code band into digital character information;
the first rotation angle calculation module is used for acquiring the motion length of the reading head relative to the bar code belt zero point at the current moment according to the digital character information, and calculating the rotation angle of the steel grabbing machine rotation platform relative to the steel grabbing machine crawler chassis at the current moment according to the motion length;
the second rotation angle calculation module is used for calculating the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment;
the gesture determining module is used for determining the gesture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the crawler chassis of the steel grabbing machine at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment.
Optionally, the system further comprises: the third rotation angle calculation module is used for calculating the rotation angle of the crawler chassis of the steel grabbing machine relative to the initial moment at the current moment according to the rotation angle of the rotation platform of the steel grabbing machine relative to the crawler chassis of the steel grabbing machine at the current moment and the rotation angle of the rotation platform of the steel grabbing machine relative to the initial moment at the current moment.
Optionally, the system further comprises a communication module, wherein the communication module is respectively connected with the data acquisition module, the first rotation angle calculation module, the second rotation angle calculation module, the third rotation angle calculation module and the gesture determination module, and the communication module is used for realizing communication connection.
Optionally, the system further comprises a pair of power modules, and the power modules are respectively connected with the data acquisition module, the first rotation angle calculation module, the second rotation angle calculation module, the third rotation angle calculation module and the gesture determination module and used for providing power.
As described above, the invention provides a method and a system for determining the gesture of a steel grabbing machine, which have the following beneficial effects:
reading a bar code belt through a reading head fixedly arranged at the upper part of the slewing bearing in advance, and converting white bars and black bars on the bar code belt into corresponding analog electric signals; the bar code belt is fixedly installed at the lower part of the slewing bearing in advance, and the installation position of the bar code belt is opposite to the reading head; converting the analog electric signal into a digital electric signal, and converting the digital electric signal into digital character information by utilizing a decoding interface circuit; acquiring the motion length of the steel grabbing machine relative to the zero point of the bar code belt at the current moment according to the digital character information, and calculating the rotation angle of the steel grabbing machine rotating platform relative to the crawler chassis of the steel grabbing machine at the current moment according to the motion length and the radius of the slewing bearing; calculating the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment by using an inertia measuring device; calculating the rotation angle of the steel grabbing machine crawler chassis relative to the initial moment at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment; and determining the posture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine crawler chassis at the current moment relative to the initial moment. Aiming at the characteristics of the steel grabbing machine during operation, the invention provides a mode based on identification of the bar code belt, and the relative rotation angle of the crawler chassis of the steel grabbing machine and the rotating platform is calculated, and then an inertial measurement unit (Inertial Measurement Unit, IMU for short) on the rotating platform is combined, so that the gesture of the steel grabbing machine during movement can be obtained. Meanwhile, the steel grabbing machine is automatically transformed according to the obtained gesture, so that unmanned or automatic operation of the steel grabbing machine can be realized. The invention not only can reform the existing equipment, but also can dispense with the new purchase of a steel grabbing machine; the sensor can be conveniently powered and data can be conveniently transmitted, and the rotary motion of the steel grabbing machine is not interfered; meanwhile, the influence of the equipment environment on the precision of the sensor can be reduced, and the precision of gesture positioning is improved; meanwhile, unmanned operation is realized by the steel grabbing machine, and occupational health injury caused by dust in a manual operation area is reduced. In addition, the method can accurately track the steel scrap stockpiling in a stock yard, and is beneficial to realizing intelligent management of the steel scrap; therefore, the invention not only can reduce the equipment cost and the labor cost, but also can increase the efficiency of ground operation control management.
Drawings
FIG. 1 is a schematic flow chart of a method for determining the gesture of a steel grab according to an embodiment;
fig. 2 is a schematic hardware structure diagram of a gesture determining system of a steel grabbing machine according to an embodiment.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that, the illustrations provided in the present embodiment merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
Referring to fig. 1, the embodiment provides a method for determining the gesture of a steel grabbing machine, which includes the following steps:
and S100, reading the bar code strip by using a reading head, and converting the bar code strip into digital character information. As an example, for example, a bar code strip may be read by a reading head fixedly installed in advance on an upper portion of a slewing bearing, and white bars and black bars on the bar code strip are converted into corresponding analog electric signals; the analog electrical signal is then converted to a 2-system digital electrical signal by an analog-to-digital converter, and the 2-system digital electrical signal is translated to 10-system digital character information using a decoding interface circuit. The bar code belt is fixedly installed at the lower part of the slewing bearing in advance, and the installation position of the bar code belt is opposite to the reading head. As an example, the present embodiment converts and forms corresponding analog electrical signals according to the white and black bars, and the white and black bar widths on the bar code strip.
And S200, acquiring the motion length of the reading head relative to the bar code belt zero point at the current moment according to the digital character information, and calculating the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment according to the motion length. For example, the position of the code strip opposite to the code strip reading head in the current state can be obtained according to the digital character information, and the code strip has the marking signals composed of the initiator, the data symbol, the separator, the verifier and the terminator at each section, so that the motion length of the reading head steel grabbing machine relative to the zero point of the strip code strip can be obtained according to the position information of the code strip, and the length of the rotation motion of the reading head is the length swept by the rotation of the rotation support because the reading head is fixedly arranged on the rotation support.
S300, calculating the rotation angle of the rotary platform of the steel grabbing machine relative to the initial moment at the current moment.
S400, determining the gesture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the crawler chassis of the steel grabbing machine at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment.
The method is based on the mode of identifying the bar code belt according to the characteristics of the steel grabbing machine during operation, the relative rotation angle of the crawler chassis of the steel grabbing machine and the rotating platform is calculated, and then the inertial measurement unit IMU on the rotating platform is combined, so that the gesture of the steel grabbing machine during movement can be obtained. Meanwhile, the steel grabbing machine is automatically transformed according to the obtained gesture, so that unmanned or automatic operation of the steel grabbing machine can be realized. The method not only can reform the existing equipment, but also can avoid the need of new purchase of a steel grabbing machine; the sensor can be conveniently powered and data can be conveniently transmitted, and the rotary motion of the steel grabbing machine is not interfered; meanwhile, the influence of the equipment environment on the precision of the sensor can be reduced, and the precision of gesture positioning is improved; meanwhile, unmanned operation is realized by the steel grabbing machine, and occupational health injury caused by dust in a manual operation area is reduced. In addition, the method can accurately track the steel scrap stockpiling in a stock yard, and is beneficial to realizing intelligent management of the steel scrap; therefore, the method not only can reduce equipment cost and labor cost, but also can increase the efficiency of ground operation control management.
According to the above description, in an exemplary embodiment, the method further includes: calculating the rotation angle of the steel grabbing machine crawler chassis relative to the initial moment at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment; and determining the gesture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine crawler chassis at the current moment relative to the initial moment.
In an exemplary embodiment, the formula for calculating the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment according to the motion length comprises:
wherein alpha is the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment; l is the motion length of the reading head relative to the bar code belt zero point at the current moment; r is the radius of the slewing bearing.
In an exemplary embodiment, the formula for calculating the rotation angle of the rotary platform of the steel grab relative to the initial moment at the current moment comprises:
wherein t is the sampling step length time of the inertial sensor; wherein the inertial sensor is located in the inertial measurement unit IMU. θ'. n Angular velocity of the inertial sensor on the reference coordinate system when sampling for the nth time; θ 0 The included angle of the steel grabbing machine rotating platform under the reference coordinate system is set at the initial moment; θ is the rotation angle of the rotating platform of the lower steel grabbing machine at the current moment relative to the initial moment; n=1, 2, …, k, k being a natural number. In this embodiment, the inertial sensor may not always provide stable and accurate data, so this embodiment further includes obtaining the corresponding correction value by using the kalman filter algorithm.
In an exemplary embodiment, the process of calculating the rotation angle of the crawler chassis of the steel grabbing machine at the current moment relative to the initial moment according to the rotation angle of the rotation platform of the steel grabbing machine at the current moment relative to the crawler chassis of the steel grabbing machine at the current moment comprises:
β＝θ-α；
wherein θ is a rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment; alpha is the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment; beta is the rotation angle of the crawler chassis of the steel grabbing machine relative to the initial moment at the current moment. Therefore, in the embodiment, the rotation angle of the crawler chassis relative to the initial ground position can be calculated by fusing the angle information of the inertial measurement unit IMU and the angle information of the bar code belt.
In accordance with the foregoing, in an exemplary embodiment, prior to reading the bar code strip with the read head, further comprising pre-processing the bar code strip; the pretreatment comprises the following steps: and wiping the bar code strip and calibrating the zero point of the bar code strip. Wherein, wiping process: when the code belt reading head is installed, a flexible windshield wiper is additionally installed behind the reading head, and the code belt can be wiped by moving the turntable for one circle. The calibrating process comprises the following steps: and (3) moving the rotary table to an initial position when the steel grabbing machine leaves a factory, and recording the position of the code belt, which is opposite to the code belt reading head, at the moment, namely, the zero point of the code belt.
In summary, the method reads the bar code strip through the reading head fixedly arranged at the upper part of the slewing bearing in advance, and converts the white bars and the black bars on the bar code strip into corresponding analog electric signals; the bar code belt is fixedly installed at the lower part of the slewing bearing in advance, and the installation position of the bar code belt is opposite to the reading head; converting the analog electric signal into a digital electric signal, and converting the digital electric signal into digital character information by utilizing a decoding interface circuit; acquiring the motion length of the steel grabbing machine relative to the zero point of the bar code belt at the current moment according to the digital character information, and calculating the rotation angle of the steel grabbing machine rotating platform relative to the crawler chassis of the steel grabbing machine at the current moment according to the motion length and the radius of the slewing bearing; calculating the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment by using an inertia measuring device; calculating the rotation angle of the steel grabbing machine crawler chassis relative to the initial moment at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment; and determining the posture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine crawler chassis at the current moment relative to the initial moment. The method is based on the mode of identifying the bar code belt according to the characteristics of the steel grabbing machine during operation, the relative rotation angle of the crawler chassis of the steel grabbing machine and the rotating platform is calculated, and then the relative rotation angle is combined with an Inertial Measurement Unit (IMU) on the rotating platform, so that the gesture of the steel grabbing machine during movement can be obtained. Meanwhile, the steel grabbing machine is automatically transformed according to the obtained gesture, so that unmanned or automatic operation of the steel grabbing machine can be realized. The method not only can reform the existing equipment, but also can avoid the need of new purchase of a steel grabbing machine; the sensor can be conveniently powered and data can be conveniently transmitted, and the rotary motion of the steel grabbing machine is not interfered; meanwhile, the influence of the equipment environment on the precision of the sensor can be reduced, and the precision of gesture positioning is improved; meanwhile, unmanned operation is realized by the steel grabbing machine, and occupational health injury caused by dust in a manual operation area is reduced. In addition, the method can accurately track the steel scrap stockpiling in a stock yard, and is beneficial to realizing intelligent management of the steel scrap; therefore, the method not only can reduce equipment cost and labor cost, but also can increase the efficiency of ground operation control management.
As shown in fig. 2, the present invention further provides a system for determining the attitude of a steel grabbing machine, which includes:
the data acquisition module M10 is used for reading the bar code strip by using the reading head and converting the bar code strip into digital character information. For example, a reading head fixedly arranged at the upper part of the slewing bearing can be used for reading the bar code strip, and white bars and black bars on the bar code strip are converted into corresponding analog electric signals; the analog electrical signal is then converted to a 2-system digital electrical signal by an analog-to-digital converter, and the 2-system digital electrical signal is translated to 10-system digital character information using a decoding interface circuit. The bar code belt is fixedly installed at the lower part of the slewing bearing in advance, and the installation position of the bar code belt is opposite to the reading head. As an example, the present embodiment converts and forms corresponding analog electrical signals according to the white and black bars, and the white and black bar widths on the bar code strip.
The first rotation angle calculating module M20 is used for obtaining the motion length of the reading head relative to the bar code belt zero point at the current moment according to the digital character information and calculating the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment according to the motion length;
the second rotation angle calculating module M30 is used for calculating the rotation angle of the rotary platform of the steel grabbing machine relative to the initial moment at the current moment;
the gesture determining module M40 is configured to determine a gesture of the steel grabbing machine at the current time according to a rotation angle of the steel grabbing machine rotating platform relative to the crawler chassis of the steel grabbing machine at the current time and a rotation angle of the steel grabbing machine rotating platform relative to the initial time at the current time.
The system aims at the characteristics of the steel grabbing machine in working, provides a mode based on identification of the bar code belt, calculates the relative rotation angle of the crawler chassis of the steel grabbing machine and the rotating platform, and then combines with an Inertial Measurement Unit (IMU) on the rotating platform, so that the gesture of the steel grabbing machine in moving can be obtained. Meanwhile, the steel grabbing machine is automatically transformed according to the obtained gesture, so that unmanned or automatic operation of the steel grabbing machine can be realized. The system not only can reform the existing equipment, but also does not need to purchase a steel grabbing machine newly; the sensor can be conveniently powered and data can be conveniently transmitted, and the rotary motion of the steel grabbing machine is not interfered; meanwhile, the influence of the equipment environment on the precision of the sensor can be reduced, and the precision of gesture positioning is improved; meanwhile, unmanned operation is realized by the steel grabbing machine, and occupational health injury caused by dust in a manual operation area is reduced. In addition, the method can accurately track the steel scrap stockpiling in a stock yard, and is beneficial to realizing intelligent management of the steel scrap; therefore, the system not only can reduce equipment cost and labor cost, but also can increase the efficiency of ground operation control management.
In accordance with the above, in an exemplary embodiment, the system further comprises: the third rotation angle calculating module M50 is configured to calculate a rotation angle of the steel grabbing machine crawler chassis at the current moment relative to the initial moment according to a rotation angle of the steel grabbing machine rotating platform at the current moment relative to the steel grabbing machine crawler chassis at the current moment and a rotation angle of the steel grabbing machine rotating platform at the current moment relative to the initial moment; and the gesture determining module M40 may be further configured to determine the gesture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the crawler chassis of the steel grabbing machine at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment.
According to the above description, the system further includes a communication module M60 and a power module M70, where the communication module M60 is connected to the data acquisition module M10, the first rotation angle calculation module M20, the second rotation angle calculation module M30, the third rotation angle calculation module M50, and the gesture determination module M40, respectively, and the communication module is used to implement communication connection. The power module M70 is connected to the data acquisition module M10, the first rotation angle calculation module M20, the second rotation angle calculation module M30, the third rotation angle calculation module M50, and the gesture determination module M40, respectively, for providing power.
According to the above description, in an exemplary embodiment, the method further includes: calculating the rotation angle of the steel grabbing machine crawler chassis relative to the initial moment at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment; and determining the gesture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine crawler chassis at the current moment relative to the initial moment.
In an exemplary embodiment, the formula for calculating the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment according to the motion length comprises:
wherein alpha is the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment; l is the motion length of the reading head relative to the bar code belt zero point at the current moment; r is the radius of the slewing bearing.
In an exemplary embodiment, the formula for calculating the rotation angle of the rotary platform of the steel grab relative to the initial moment at the current moment comprises:
wherein t is the sampling step length time of the inertial sensor; wherein the inertial sensor is located in the inertial measurement unit IMU. θ'. n Angular velocity of the inertial sensor on the reference coordinate system when sampling for the nth time; θ 0 The included angle of the steel grabbing machine rotating platform under the reference coordinate system is set at the initial moment; θ is the rotation angle of the rotating platform of the lower steel grabbing machine at the current moment relative to the initial moment; n=1, 2, …, k, k being a natural number. In this embodiment, the inertial sensor may not always provide stable and accurate data, so this embodiment further includes obtaining the corresponding correction value by using the kalman filter algorithm.
In an exemplary embodiment, the process of calculating the rotation angle of the crawler chassis of the steel grabbing machine at the current moment relative to the initial moment according to the rotation angle of the rotation platform of the steel grabbing machine at the current moment relative to the crawler chassis of the steel grabbing machine at the current moment comprises:
β＝θ-α；
wherein θ is a rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment; alpha is the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment; beta is the rotation angle of the crawler chassis of the steel grabbing machine relative to the initial moment at the current moment. Therefore, in the embodiment, the rotation angle of the crawler chassis relative to the initial ground position can be calculated by fusing the angle information of the inertial measurement unit IMU and the angle information of the bar code belt.
In accordance with the foregoing, in an exemplary embodiment, prior to reading the bar code strip with the read head, further comprising pre-processing the bar code strip; the pretreatment comprises the following steps: and wiping the bar code strip and calibrating the zero point of the bar code strip. Wherein, wiping process: when the code belt reading head is installed, a flexible windshield wiper is additionally installed behind the reading head, and the code belt can be wiped by moving the turntable for one circle. The calibrating process comprises the following steps: and (3) moving the rotary table to an initial position when the steel grabbing machine leaves a factory, and recording the position of the code belt, which is opposite to the code belt reading head, at the moment, namely, the zero point of the code belt.
In summary, the system reads the bar code strip through the reading head fixedly arranged at the upper part of the slewing bearing in advance, and converts the white bars and the black bars on the bar code strip into corresponding analog electric signals; the bar code belt is fixedly installed at the lower part of the slewing bearing in advance, and the installation position of the bar code belt is opposite to the reading head; converting the analog electric signal into a digital electric signal, and converting the digital electric signal into digital character information by utilizing a decoding interface circuit; acquiring the motion length of the steel grabbing machine relative to the zero point of the bar code belt at the current moment according to the digital character information, and calculating the rotation angle of the steel grabbing machine rotating platform relative to the crawler chassis of the steel grabbing machine at the current moment according to the motion length and the radius of the slewing bearing; calculating the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment by using an inertia measuring device; calculating the rotation angle of the steel grabbing machine crawler chassis relative to the initial moment at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment; and determining the posture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine crawler chassis at the current moment relative to the initial moment. The system aims at the characteristics of the steel grabbing machine in working, provides a mode based on identification of the bar code belt, calculates the relative rotation angle of the crawler chassis of the steel grabbing machine and the rotating platform, and then combines the relative rotation angle with the inertial measurement unit IMU on the rotating platform, so that the gesture of the steel grabbing machine in moving can be obtained. Meanwhile, the steel grabbing machine is automatically transformed according to the obtained gesture, so that unmanned or automatic operation of the steel grabbing machine can be realized. The system not only can reform the existing equipment, but also does not need to purchase a steel grabbing machine newly; the sensor can be conveniently powered and data can be conveniently transmitted, and the rotary motion of the steel grabbing machine is not interfered; meanwhile, the influence of the equipment environment on the precision of the sensor can be reduced, and the precision of gesture positioning is improved; meanwhile, unmanned operation is realized by the steel grabbing machine, and occupational health injury caused by dust in a manual operation area is reduced. In addition, the method can accurately track the steel scrap stockpiling in a stock yard, and is beneficial to realizing intelligent management of the steel scrap; therefore, the system not only can reduce equipment cost and labor cost, but also can increase the efficiency of ground operation control management. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
It should be understood that although the terms first, second, third, etc. may be used to describe the preset ranges, etc. in the embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish one preset range from another. For example, a first preset range may also be referred to as a second preset range, and similarly, a second preset range may also be referred to as a first preset range without departing from the scope of embodiments of the present invention.
Claims (8)
1. The method for determining the gesture of the steel grabbing machine is characterized by comprising the following steps of:
reading a bar code strip by using a reading head, and converting the bar code strip into digital character information; the reading head is fixedly arranged on the upper part of the slewing bearing, the bar code belt is fixedly arranged on the lower part of the slewing bearing, and the mounting position of the bar code belt is opposite to the reading head;
acquiring the motion length of the reading head relative to the bar code belt zero point at the current time according to the digital character information, and calculating the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current time according to the motion length;
calculating the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment based on the measurement data of the inertial measurement device;
calculating the rotation angle of the steel grabbing machine crawler chassis relative to the initial moment at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment; and determining the gesture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine crawler chassis at the current moment relative to the initial moment.
2. The method according to claim 1, wherein the formula for calculating the rotation angle of the rotary platform of the steel grab relative to the crawler chassis of the steel grab at the current moment according to the movement length comprises:
wherein alpha is the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment;
l is the motion length of the reading head relative to the bar code belt zero point at the current moment;
r is the radius of the slewing bearing.
3. The method according to claim 2, wherein the formula for calculating the rotation angle of the rotary platform of the steel grab with respect to the initial time at the current time includes:
wherein t is the sampling step length time of the inertial sensor;
θ′ n angular velocity of the inertial sensor on the reference coordinate system when sampling for the nth time;
θ 0 the included angle of the steel grabbing machine rotating platform under the reference coordinate system is set at the initial moment;
θ is the rotation angle of the rotating platform of the lower steel grabbing machine at the current moment relative to the initial moment;
n=1, 2,..k, k is a natural number.
4. The method for determining the attitude of a steel grab according to claim 3, wherein the process of calculating the rotation angle of the steel grab crawler chassis at the current time with respect to the initial time based on the rotation angle of the steel grab rotation platform at the current time with respect to the crawler chassis of the steel grab and the rotation angle of the steel grab rotation platform at the current time with respect to the initial time includes:
β＝θ-α；
wherein θ is a rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment;
alpha is the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment;
beta is the rotation angle of the crawler chassis of the steel grabbing machine relative to the initial moment at the current moment.
5. The method according to claim 1, characterized by further comprising preprocessing the bar code strip before reading the bar code strip with the reading head;
the pretreatment comprises the following steps: and wiping the bar code strip and calibrating the zero point of the bar code strip.
6. A steel grab attitude determination system, comprising:
the data acquisition module is used for reading the bar code band by using the reading head and converting the bar code band into digital character information; the reading head is fixedly arranged on the upper part of the slewing bearing, the bar code belt is fixedly arranged on the lower part of the slewing bearing, and the mounting position of the bar code belt is opposite to the reading head;
the first rotation angle calculation module is used for acquiring the motion length of the reading head relative to the bar code belt zero point at the current moment according to the digital character information, and calculating the rotation angle of the steel grabbing machine rotation platform relative to the steel grabbing machine crawler chassis at the current moment according to the motion length;
the second rotation angle calculation module is used for calculating the rotation angle of the steel grabbing machine rotating platform relative to the initial moment at the current moment according to the measurement data of the inertia measurement device;
the third rotation angle calculation module is used for calculating the rotation angle of the crawler chassis of the steel grabbing machine relative to the initial moment at the current moment according to the rotation angle of the rotation platform of the steel grabbing machine relative to the crawler chassis of the steel grabbing machine at the current moment and the rotation angle of the rotation platform of the steel grabbing machine relative to the initial moment at the current moment;
the gesture determining module is used for determining the gesture of the steel grabbing machine at the current moment according to the rotation angle of the steel grabbing machine rotating platform relative to the steel grabbing machine crawler chassis at the current moment and the rotation angle of the steel grabbing machine crawler chassis at the current moment relative to the initial moment.
7. The steel grab attitude determination system according to claim 6, further comprising a communication module, wherein the communication module is respectively connected with the data acquisition module, the first rotation angle calculation module, the second rotation angle calculation module, the third rotation angle calculation module and the attitude determination module, and the communication module is used for realizing communication connection.
8. The steel grab attitude determination system according to claim 6, further comprising a pair of power supply modules respectively connected to the data acquisition module, the first rotation angle calculation module, the second rotation angle calculation module, the third rotation angle calculation module, and the attitude determination module for supplying power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111249064.1A CN113928847B (en) | 2021-10-26 | 2021-10-26 | Method and system for determining gesture of steel grabbing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111249064.1A CN113928847B (en) | 2021-10-26 | 2021-10-26 | Method and system for determining gesture of steel grabbing machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113928847A CN113928847A (en) | 2022-01-14 |
| CN113928847B true CN113928847B (en) | 2023-05-12 |
Family
ID=79284264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111249064.1A Active CN113928847B (en) | 2021-10-26 | 2021-10-26 | Method and system for determining gesture of steel grabbing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113928847B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001159518A (en) * | 1999-11-30 | 2001-06-12 | Komatsu Ltd | Tool position measuring device of construction machine, yaw angle detecting device, work machine automatic control device and calibration device |
| JP6068730B2 (en) * | 2015-10-30 | 2017-01-25 | 株式会社小松製作所 | Work machine and work machine parameter correction method for work machine |
| CN109607386A (en) * | 2019-01-22 | 2019-04-12 | 长沙海川自动化设备有限公司 | Angle of revolution detection device, apparatus for rotating and derrick crane |
| JP7228450B2 (en) * | 2019-03-29 | 2023-02-24 | 住友重機械工業株式会社 | Excavator |
| CN111121706A (en) * | 2019-12-31 | 2020-05-08 | 潍柴动力股份有限公司 | Excavator rotation angle measuring method, device and system |
| CN212078051U (en) * | 2020-03-31 | 2020-12-04 | 福建省泉鑫再生资源有限公司 | Crawler-type steel grabbing machine |
| CN111522364A (en) * | 2020-06-03 | 2020-08-11 | 中国电建集团长春发电设备有限公司 | Remote control system with automatic addressing function for dumping plough |
| CN112264996B (en) * | 2020-10-16 | 2022-06-14 | 中冶赛迪上海工程技术有限公司 | Steel grabbing machine positioning control method and system |
| CN112709269A (en) * | 2020-12-22 | 2021-04-27 | 中联重科土方机械有限公司 | Automatic control device and method for adjusting posture of excavator and excavator |
-
2021
- 2021-10-26 CN CN202111249064.1A patent/CN113928847B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113928847A (en) | 2022-01-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101680429B (en) | Measuring of geometrical parameters for a wind turbine blade | |
| US5983166A (en) | Structure measurement system | |
| EP1536205A2 (en) | Surface scan measuring device and method of forming compensation table for scanning probe | |
| CN110285773B (en) | Constant linear velocity control method for workpiece contour detection | |
| Driels et al. | Vision-based automatic theodolite for robot calibration | |
| CN102980665A (en) | System and method for detecting rotary kiln temperature | |
| CN102581851A (en) | Mechanical arm movement control system and method | |
| WO2001018734A8 (en) | Calibration process for shape measurement | |
| CN104236629A (en) | Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot | |
| CN113928847B (en) | Method and system for determining gesture of steel grabbing machine | |
| CN106989670A (en) | A kind of non-contact type high-precision large-scale workpiece tracking measurement method of robot collaboration | |
| JP2585745B2 (en) | Telemetry device | |
| CN110470208B (en) | Stumpage breast diameter measuring method and device | |
| CN109916392B (en) | Mechanical equipment position detection device based on encoder and system and method thereof | |
| CN111687842A (en) | Robot positioning detection and adjustment method | |
| CN100398990C (en) | Revolving type spherometer, and measuring method | |
| CN112557072B (en) | Calibration method and device for cantilever space degree of freedom of mining equipment | |
| CN206905710U (en) | Thread pitch error measurement and compensation device and system | |
| CN212229490U (en) | Multi-axis motion control structure | |
| WO2022056765A1 (en) | Method and apparatus for managing robot path | |
| CN209214630U (en) | A kind of inertial nevigation apparatus for coalcutter positioning | |
| CN116678377B (en) | Tunnel clearance automatic detection method based on automatic total station | |
| CN112556649A (en) | Method and device for correcting dip angle of excavator during dip angle measurement and dip angle measuring instrument | |
| RU2098630C1 (en) | Station for monitoring shaft guide parameters | |
| CN111859501A (en) | Automatic monitoring system and method for bridge rotation construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |