CN113928982A - High-precision grab bucket grabbing position control method with radar feedback - Google Patents
High-precision grab bucket grabbing position control method with radar feedback Download PDFInfo
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- CN113928982A CN113928982A CN202111117924.6A CN202111117924A CN113928982A CN 113928982 A CN113928982 A CN 113928982A CN 202111117924 A CN202111117924 A CN 202111117924A CN 113928982 A CN113928982 A CN 113928982A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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Abstract
The invention relates to a high-precision grab bucket grabbing position control method with radar feedback, which comprises the following steps of: constructing a two-dimensional plane model of a working area according to the working position of the grab bucket, and positioning each working point of the grab bucket; constructing a three-dimensional model according to the length, the width and the height of different pit pools, and detecting the state of pushing materials in different pit pools; calculating the optimal grabbing route of the grab bucket by combining the height of the stockpiles in different cellar pools and the running distance, running acceleration and running speed of the grab bucket, and finishing one grabbing action; and updating the three-dimensional model, repeating the calculation process of the optimal grabbing route, and circularly executing grabbing actions. The invention comprehensively considers the height of the material pile, the distance from the material pile to the feeding point, the running acceleration of the grab bucket and the running speed of the grab bucket to calculate the optimal grabbing route of the grab bucket and control the grabbing position, thereby having high grabbing efficiency.
Description
Technical Field
The invention relates to the technical field of grab bucket material taking control methods, in particular to a high-precision grab bucket grabbing position control method with radar feedback.
Background
With the continuous development of the industry in China, the crane is well applied to more and more industries, and particularly in some special industries, the conveying efficiency of the crane is challenged by the irregularity of the lifting materials, so that the problem to be solved urgently is solved by finding the optimal solution of the lifting material efficiency of the crane on the premise of ensuring the safety;
in the wine making process, a carrying robot is generally adopted to cooperate with a grab bucket to carry materials from a cellar pool and transport the materials to a designated feeding point through a fixed conveying point to complete feeding, the traditional material carrying process is that the robot cooperates with the grab bucket to complete material grabbing and transporting actions from different cellar pools in sequence, but the pushing heights of different cellar pools are different, the positions of different cellar pools away from the feeding point are also different, and the traditional material carrying method is low in carrying efficiency.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the problem of low material handling efficiency in the prior art, and provide a high-precision grab bucket grabbing position control method with radar feedback, wherein the grabbing position is controlled by comprehensively considering the height of a material pile, the distance from the material pile to a feeding point, the running acceleration of the grab bucket and the running speed of the grab bucket, and the material handling efficiency is improved.
In order to solve the technical problem, the invention provides a high-precision grab bucket grabbing position control method with radar feedback, which comprises the following steps of: constructing a two-dimensional plane model of a working area according to the working position of the grab bucket, and positioning each working point of the grab bucket; constructing a three-dimensional model according to the length, the width and the height of different pit pools, and detecting the state of pushing materials in different pit pools; calculating the optimal grabbing route of the grab bucket by combining the height of the stockpiles in different cellar pools and the running distance, running acceleration and running speed of the grab bucket, and finishing one grabbing action; and updating the three-dimensional model, repeating the calculation process of the optimal grabbing route, and circularly executing grabbing actions.
In one embodiment of the invention, the two-dimensional plane model comprises positions of different pits, positions of feeding points and positions of fixed conveying points, and the running distance of the grab bucket for completing one grabbing action can be determined according to the positions.
In one embodiment of the invention, each position of the two-dimensional planar model is accurately located by an absolute value encoder and a laser range finder.
In an embodiment of the present invention, the method for constructing the three-dimensional stereo model includes: the laser scanner is adopted to carry out one-dimensional linear scanning, the laser scanner is driven to rotate to realize two-dimensional plane scanning, and the laser scanner is driven by the travelling crane to realize three-dimensional scanning.
In one embodiment of the invention, the calculation priorities of the internal stacking height of the different pits and the running distance, the running acceleration and the running speed of the grab bucket are different, wherein the internal stacking height is the first priority, the running distance of the grab bucket is the second priority, the running acceleration of the grab bucket is the third priority, and the running speed of the grab bucket is the fourth priority.
In one embodiment of the invention, according to the different priorities, weight coefficients are allocated to the different priorities, and the sum of the weight coefficients is 1.
In one embodiment of the invention, a three-dimensional model in the cellar is constructed according to the stacking heights of different positions in the same cellar, and the material pushing state in the same cellar is detected.
In one embodiment of the invention, the optimal grabbing route of the grab bucket is calculated by combining the pushing heights of different positions in the same pit and the running distance, running acceleration and running speed of the grab bucket, so that one grabbing action is completed.
In one embodiment of the invention, the boundary size of the pit is determined in the two-dimensional plane model, and the boundary condition of the operation of the grab bucket is set in combination with the working size of the grab bucket.
In one embodiment of the invention, a storehouse management system is constructed, and the storehouse management system records the positions and the numbers of the grab bucket, different cellar pools, feeding points and fixed conveying points in the two-dimensional plane model, the heights of the different cellar pools and the heights of materials in the different cellar pools in the three-dimensional model, and generates a storehouse management database.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the high-precision grab bucket grabbing position control method with radar feedback, the optimal grabbing route of the grab bucket is calculated by constructing a two-dimensional plane model of a working area and a three-dimensional model of a pit, comprehensively considering the height of a material pile, the distance from the material pile to a feeding point, the running acceleration of the grab bucket and the running speed of the grab bucket, and the grabbing position is controlled, so that the grabbing efficiency is high; the functions of automatic operation of the grab bucket and finding an optimal path can be realized through the control of the air intelligent robot wine brewing system, and the grab bucket can be in seamless butt joint with a ground central control system, so that the high efficiency and the safety of production and operation are ensured.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a step diagram of a high precision grapple grab position control method with radar feedback of the present invention;
fig. 2 is a flow chart of the execution of the high-precision grab bucket gripping position control method with radar feedback of the invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1, the method for controlling the grabbing position of the high-precision grab bucket with radar feedback comprises the following steps:
a two-dimensional plane model of a working area is built according to the working position of the grab bucket, each working point of the grab bucket is positioned, the grab bucket firstly moves to the position above a pit from an initial position to complete material grabbing action, then moves to a feeding point through a fixed conveying point to complete blanking action, and after the two-dimensional plane model is built, the stroke distance from the initial position to the completion of the blanking action of the grab bucket can be calculated;
a three-dimensional model is constructed according to the length, the width and the height of different cellars, the state of pushing materials in different cellars is detected, and the stacking height in different cellars can be calculated;
calculating the optimal grabbing route of the grab bucket by combining the height of the stockpiles in different cellar pools, the running distance, the running acceleration and the running speed of the grab bucket, finishing one grabbing action, finishing the minimum value of the working time of grabbing the materials once by the grab bucket when finishing the optimal grabbing route once, so that the minimum value is related to the stroke distance of the grab bucket, the acceleration of the grab bucket, the maximum running speed of the grab bucket and the stockpile height of different cellar pools, and constructing a calculation formula by constructing the factors to accurately calculate the time for finishing the feeding action from the cellar pools at different positions;
after one-time grabbing is completed, the heights of materials in different cellars are changed, so that the three-dimensional model needs to be updated again, the calculation process of the optimal grabbing route is repeated, and grabbing actions are executed in a circulating mode.
According to the embodiment, a two-dimensional plane model of a working area and a three-dimensional model of a pit are constructed by a high-precision grab bucket grabbing position control method with radar feedback, the optimal grabbing route of the grab bucket is calculated by comprehensively considering the height of a material pile, the distance from the material pile to a feeding point, the running acceleration of the grab bucket and the running speed of the grab bucket, the grabbing position is controlled, and the grabbing efficiency is high; the functions of automatic operation of the grab bucket and finding an optimal path can be realized through the control of the air intelligent robot wine brewing system, and the grab bucket can be in seamless butt joint with a ground central control system, so that the high efficiency and the safety of production and operation are ensured.
Specifically, the two-dimensional plane model comprises positions of different pit pools, positions of feeding points and positions of fixed conveying points, and the running distance of the grab bucket for completing one grabbing action can be determined according to the positions; and each position of the two-dimensional plane model is accurately positioned through an absolute value encoder and a laser range finder.
Specifically, the method for constructing the three-dimensional model comprises the following steps: the method comprises the following steps of performing one-dimensional linear scanning by adopting a laser scanner, driving the laser scanner to rotate to realize two-dimensional plane scanning, and driving the laser scanner to realize three-dimensional scanning by a travelling crane;
specifically, the single-point measurement of the vertical dimension (Z axis) of the pit height adopts the single-line laser time flight principle of a laser scanner to measure the height; the multipoint height measurement in the width direction (Y axis) of the pit is realized by adopting a 180-degree rotary scanning function of a laser scanner; the multipoint height measurement in the length direction (X axis) of the pit is carried out by adopting a robot to move a travelling crane to drive a laser scanner to scan, and the travelling crane position is measured by a travelling crane positioning system;
the specific scanning and transmission process is as follows: the laser scanner is driven by the traveling crane, the scanning is continuously carried out in the traveling crane moving process, and the data obtained by the scanning is transmitted to the lower PLC in a TCP/I P communication mode; processing data in the lower PLC, converting the obtained distance data into X, Y and Z three-dimensional coordinates, returning the three data and the pit number in the lower PLC in real time, and entering the upper PLC; the data scanned by the laser has some deviation, and in order to improve the precision, two statistical methods are adopted to process the detection data: 1. by means of average cutting, the same point is scanned at high speed for more than 8 times, the maximum value and the minimum value are removed, and other values are averaged; 2. if the progress is further improved, the same point can still be subjected to high-speed scanning for more than 8 times through normal distribution (Gaussian distribution) processing, the detection value is supposed to accord with the normal distribution (Gaussian distribution), the probability density of the Gaussian distribution is multiplied by the measurement data of each time, and the obtained values are summed, so that the final optimized measurement statistics is obtained. Comparing data in the upper PLC to find out the position of the travelling crane to be grabbed in the pit and give running, grabbing and other signals to the travelling crane; the position of an absolute value encoder where the travelling crane is located is sent to a lower computer to confirm the position; and the lower PLC updates the height information of the established model in real time.
Specifically, the calculation priorities of the internal stacking height of different pits and the operation distance, the operation acceleration and the operation speed of the grab bucket are different, and a conclusion is obtained according to actual measurement and comparison experiments, wherein the internal stacking height is a first priority, the operation distance of the grab bucket is a second priority, the operation acceleration of the grab bucket is a third priority, and the operation speed of the grab bucket is a fourth priority; and distributing weight coefficients for different priorities according to different priorities, wherein the sum of the weight coefficients is 1.
In the actual material handling process, a situation exists that the stacking heights at different positions in the same cellar pool are different, so that the grabbing positions in the same cellar pool also need to be calculated, and the handling efficiency can be further improved; in this embodiment, in the same cellar, a three-dimensional model in the cellar is constructed for the stacking heights at different positions, and the pushing state in the same cellar is detected. Calculating the optimal grabbing route of the grab bucket by combining the pushing heights of different positions in the same pit and the running distance, running acceleration and running speed of the grab bucket, and finishing one grabbing action;
therefore, the method for controlling the grabbing position of the high-precision grab bucket with the radar feedback is an optimal grabbing route obtained through two times of calculation, firstly, a pit needing to be grabbed by the grab bucket is determined macroscopically, and then, the grabbing position of the grab bucket in the pit is determined microscopically.
Specifically, confirm the boundary dimension in cellar for storing things pond in two-dimensional plane model, combine the working dimension of grab bucket, set up the boundary condition that the grab bucket ran, in this embodiment, the grab bucket is expanded and can be reached 1.6 meters scope when the biggest, under the prerequisite that satisfies anticollision cellar for storing things pond edge, just can once snatch the most material when the grab bucket reaches the maximum aperture, therefore the boundary condition of the hopper of this embodiment is that cellar for storing things pond inwards dwindles 1.6 meters, guarantees to snatch in the boundary dimension in cellar for storing things pond, prevents to collide the cellar for storing things pond wall.
In order to facilitate management, a warehouse management system is further constructed in the embodiment, the warehouse management system records the positions and numbers of the grab bucket, different cellar pools, feeding points and fixed transfer points in the two-dimensional plane model, the heights of the different cellar pools and the heights of materials in the different cellar pools in the three-dimensional model, a warehouse management database is generated, and after each grabbing action is completed, the warehouse management database is updated;
referring to fig. 2, the flow executed by the method for controlling the grabbing position of the high-precision grab bucket with radar feedback in the warehouse management system according to the present invention includes: firstly, initializing a warehouse management system, then importing the position and number data of a grab bucket, different cellar pools, a feeding point and a fixed transfer point in a two-dimensional plane model into a warehouse management database, importing the pushing height in the cellar pool in a three-dimensional model into the warehouse management database, constructing a calculation formula according to the data and a weight coefficient corresponding to the data, acquiring an optimal grabbing position, executing grabbing actions, reconstructing the three-dimensional model according to the pushing height in the cellar pool after grabbing, updating the warehouse management database, circularly constructing the calculation formula, acquiring the optimal grabbing position, and executing the grabbing actions until the grabbing is completed.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A high-precision grab bucket grabbing position control method with radar feedback is characterized by comprising the following steps: constructing a two-dimensional plane model of a working area according to the working position of the grab bucket, and positioning each working point of the grab bucket; constructing a three-dimensional model according to the length, the width and the height of different pit pools, and detecting the state of pushing materials in different pit pools; calculating the optimal grabbing route of the grab bucket by combining the height of the stockpiles in different cellar pools and the running distance, running acceleration and running speed of the grab bucket, and finishing one grabbing action; and updating the three-dimensional model, repeating the calculation process of the optimal grabbing route, and circularly executing grabbing actions.
2. The method for controlling the grabbing position of the high-precision grab bucket with radar feedback according to claim 1, characterized in that: the two-dimensional plane model comprises positions of different cellars, positions of feeding points and positions of fixed conveying points, and the running distance of the grab bucket for completing one grabbing action can be determined according to the positions.
3. The method for controlling the grabbing position of the high-precision grab bucket with radar feedback according to claim 1, characterized in that: and each position of the two-dimensional plane model is accurately positioned through an absolute value encoder and a laser range finder.
4. The method for controlling the grabbing position of the high-precision grab bucket with radar feedback according to claim 1, characterized in that: the construction method of the three-dimensional model comprises the following steps: the laser scanner is adopted to carry out one-dimensional linear scanning, the laser scanner is driven to rotate to realize two-dimensional plane scanning, and the laser scanner is driven by the travelling crane to realize three-dimensional scanning.
5. The method for controlling the grabbing position of the high-precision grab bucket with radar feedback according to claim 1, characterized in that: the calculation priorities of the internal stacking height of different cellar pools and the running distance, running acceleration and running speed of the grab bucket are different, wherein the internal stacking height is a first priority, the running distance of the grab bucket is a second priority, the running acceleration of the grab bucket is a third priority, and the running speed of the grab bucket is a fourth priority.
6. The method for controlling the grabbing position of the high-precision grab bucket with radar feedback according to claim 1, characterized in that: and distributing weight coefficients for different priorities according to different priorities, wherein the sum of the weight coefficients is 1.
7. The method for controlling the grabbing position of the high-precision grab bucket with radar feedback according to claim 1, characterized in that: in the same cellar pool, a three-dimensional model in the cellar pool is constructed according to the stacking heights of different positions, and the material pushing state in the same cellar pool is detected.
8. The method of controlling a gripping position of a high-precision grapple with radar feedback according to claim 7, wherein: and calculating the optimal grabbing route of the grab bucket by combining the pushing heights of different positions in the same pit and the running distance, running acceleration and running speed of the grab bucket, and finishing one grabbing action.
9. The method for controlling the grabbing position of the high-precision grab bucket with radar feedback according to claim 1, characterized in that: and determining the boundary size of the pit in a two-dimensional plane model, and setting the boundary condition of the operation of the grab bucket by combining the working size of the grab bucket.
10. The method for controlling the grabbing position of the high-precision grab bucket with radar feedback according to claim 1, characterized in that: and constructing a warehouse management system, wherein the warehouse management system records the positions and the numbers of the grab bucket, the different cellar pools, the feeding point and the fixed conveying point in the two-dimensional plane model, the heights of the different cellar pools in the three-dimensional model and the heights of the materials in the different cellar pools to generate a warehouse management database.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111117924.6A CN113928982B (en) | 2021-09-18 | 2021-09-18 | High-precision grab bucket grabbing position control method with radar feedback |
| PCT/CN2021/136283 WO2023040079A1 (en) | 2021-09-18 | 2021-12-08 | High-precision grab bucket grabbing position control method having radar feedback |
| LU501953A LU501953B1 (en) | 2021-09-18 | 2021-12-08 | High-accuracy method for controlling grabbing position of grab with radar feedback |
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| CN202111117924.6A CN113928982B (en) | 2021-09-18 | 2021-09-18 | High-precision grab bucket grabbing position control method with radar feedback |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116333847A (en) * | 2023-04-07 | 2023-06-27 | 法兰泰克重工股份有限公司 | Pit surface strickling method and pit surface strickling equipment |
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| CN116678399B (en) * | 2023-08-03 | 2023-11-24 | 天津市云希创新技术有限责任公司 | Multisource information fusion positioning method and system of container internal transport sensing system |
| CN117446538B (en) * | 2023-12-21 | 2024-04-05 | 河南卫华重型机械股份有限公司 | Continuous material taking control method of ship unloader |
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- 2021-09-18 CN CN202111117924.6A patent/CN113928982B/en active Active
- 2021-12-08 LU LU501953A patent/LU501953B1/en active IP Right Grant
- 2021-12-08 WO PCT/CN2021/136283 patent/WO2023040079A1/en active Application Filing
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| Publication number | Publication date |
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| LU501953B1 (en) | 2023-03-24 |
| WO2023040079A1 (en) | 2023-03-23 |
| CN113928982B (en) | 2022-11-18 |
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