CN117901124B - Method and system for intelligently identifying car coupler of car dumper based on unhooking robot - Google Patents
Method and system for intelligently identifying car coupler of car dumper based on unhooking robot Download PDFInfo
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Abstract
The invention discloses a method and a system for intelligently identifying a car coupler of a car dumper based on a unhooking robot, which relate to the field of mechanical control and comprise the following steps: traversing a target carriage characteristic information set of a target carriage extracted by a target vehicle characteristic information set matched with a target vehicle in a vehicle database to construct a target carriage three-dimensional model, obtaining a target twin model to generate a preset control path, dynamically monitoring by a path monitoring unit of an industrial control center to obtain a path record real control path of a unhooking manipulator based on a moving path of the preset control path, generating a fine tuning control rule by comparing path deviation information of the preset control path and the real control path, and starting unhooking brake logic to pick and disconnect a target coupler. The technical problem that the uncoupling operation efficiency of the uncoupling robot is low due to inaccurate identification of the locomotive uncoupling in the prior art is solved, the reasonable and accurate identification of the locomotive uncoupling hook is realized, and the technical effect of improving the uncoupling operation efficiency of the uncoupling robot is achieved.
Description
Technical Field
The application relates to the field of mechanical manipulation, in particular to a car dumper intelligent car coupler recognition method and system based on a unhooking robot.
Background
Along with the development of scientific technology, particularly the development of the field of unhooking robots, at present, in the process of transferring coal mines transported by railways in China, a car dumper is required to reverse mineral aggregates at a designated station, each mechanism in the dumping operation is discontinuous, the efficiency is low, and the car dumper is large-scale mechanical equipment for dumping bulk materials of railway open cars. The dumper system is a very specialized bulk material unloading system, can be used for dumping bulk materials loaded by trains, and is inaccurate in identifying the dumper hooks in the prior art, so that the technical problem of low unhooking operation efficiency of a unhooking robot is caused.
Disclosure of Invention
According to the intelligent car dumper coupler recognition method and system based on the uncoupling robot, the technical problem that the uncoupling robot has low uncoupling operation efficiency due to inaccurate recognition of the car dumper coupler in the prior art is solved, the car dumper coupler is reasonably and accurately recognized, and the technical effect of improving the uncoupling operation efficiency of the uncoupling robot is achieved.
The application provides a method for intelligently identifying a coupler of a car dumper based on an unhooking robot, which is applied to a car dumper intelligent identification coupler system based on the unhooking robot and comprises the following steps: traversing a target vehicle feature information set of a matched target vehicle in a vehicle database;
constructing a target compartment three-dimensional model according to a target compartment characteristic information set of the target compartment extracted from the target vehicle characteristic information set;
Rendering the target carriage three-dimensional model into a target area three-dimensional model by combining the target carriage position of the target carriage to obtain a target twin model, wherein the target area three-dimensional model refers to a three-dimensional model of a rollover operation area of a rollover machine;
the path planning unit of the industrial control center takes a target connection position predicted by analyzing the target model structural characteristics of the target twin model as an end point of a control path, and takes a manipulator homing position of a unhooking manipulator of the unhooking robot as a start point of the control path to generate a preset control path;
dynamically monitoring and obtaining a moving path of the unhooking manipulator based on the preset control path through a path monitoring unit of the industrial control center, and recording the moving path as an actual control path;
Generating a fine tuning control rule based on path deviation information comparing the predetermined control path with the actual control path;
And when the actual position of the manipulator of the unhooking manipulator regulated and controlled based on the fine-tuning control rule is in a preset range of the target connection position, starting unhooking brake logic to unhook and disconnect the target coupler.
In a possible implementation manner, the path planning unit of the industrial control center uses a target connection position predicted by analyzing the target model structural features of the target twin model as an end point of a control path, uses a manipulator homing position of a unhooking manipulator of the unhooking robot as a start point of the control path, generates a predetermined control path, and executes the following processing: a first space coordinate of the homing position of the manipulator is obtained by rendering a manipulator three-dimensional model of the unhooking manipulator to the target twin model;
extracting target characteristic information of the target coupler in the target vehicle characteristic information set;
Rendering a target coupler three-dimensional model constructed based on the target characteristic information to the target twin model, and acquiring a second space coordinate of the target coupler in the target twin model;
The predetermined control path is generated based on the first spatial coordinates and the second spatial coordinates.
In a possible implementation manner, the path monitoring unit of the industrial control center dynamically monitors and obtains a moving path of the unhooking manipulator based on the preset control path, records the moving path as an actual control path, and executes the following processing: acquiring infrared detection equipment, wherein the infrared detection equipment is in communication connection with the path monitoring unit;
Arranging signal transmitting equipment in the infrared detection equipment on a target connecting surface of the target carriage, and arranging signal receiving equipment in the infrared detection equipment on an adjacent connecting surface of an adjacent target carriage;
Transmitting an infrared signal through the signal transmitting equipment, receiving the transmitted infrared signal by the signal receiving equipment, and monitoring and calculating to obtain a signal transmitting-receiving time difference time sequence;
Extracting a first time difference sequence at a first time in the signal transmission-reception time difference time sequence, wherein the first time difference sequence comprises a plurality of time differences;
analyzing the plurality of time differences to obtain a first real-time position coordinate of the unhooking manipulator at the first time;
the actual control path is formed based on the first real-time position coordinates.
In a possible implementation manner, a fine tuning control rule is generated based on path deviation information comparing the predetermined control path and the actual control path, and then the following processing is performed: extracting target structural feature information in the target feature information;
and adjusting the fine adjustment control rule according to the position of the target handle on the target coupler in the target structural feature information.
In a possible implementation, the following process is performed: the historical unhooking record of the unhooking manipulator is called;
extracting a first history record in the history uncoupling records, wherein the first history record refers to any history record of the uncoupling manipulator for picking the target coupler;
taking a first historical unhooking control parameter, a first historical unhooking efficiency and a first historical unhooking safety index in the first historical record as a first training data set to conduct supervision learning and inspection to obtain a unhooking control optimization model;
and embedding the unhooking control optimization model into a unhooking activation unit of the industrial control center.
In a possible implementation, the step of obtaining the first historical unhooking control parameter performs the following process: reading a preset unhooking control index;
performing traversal matching on the first history record based on the preset unhooking control index to obtain the first history unhooking control parameter;
wherein the preset unhooking control index comprises unhooking angle, unhooking pose, unhooking force and unhooking speed.
In a possible implementation, the target coupler is disengaged by activating the uncoupling braking logic, and the following processing is performed: obtaining an optimal unhooking control scheme of the target car coupler through the unhooking control optimization model;
and taking the optimal unhooking control scheme as the unhooking braking logic to unhook and disconnect the target coupler.
The application also provides a car dumper intelligent recognition car coupler system based on the unhooking robot, which comprises:
The traversal matching module is used for traversing the target vehicle characteristic information set of the matched target vehicle in the vehicle database;
A first model building module for building a target cabin three-dimensional model from a target cabin feature information set of a target cabin extracted from the target vehicle feature information set;
The second model building module is used for rendering the target carriage three-dimensional model into a target area three-dimensional model by combining the target carriage position of the target carriage to obtain a target twin model, and the target area three-dimensional model is a three-dimensional model of a rollover operation area of the rollover machine;
the first analysis module is used for a path planning unit of the industrial control center to take a target connection position predicted by the structural characteristics of a target model of the target twin model as an end point of a control path, and a manipulator homing position of a unhooking manipulator of the unhooking robot as a starting point of the control path to generate a preset control path;
The dynamic monitoring module is used for dynamically monitoring and obtaining a moving path of the unhooking manipulator based on the preset control path through a path monitoring unit of the industrial control center and recording the moving path as an actual control path;
The rule generation module is used for generating a fine adjustment control rule based on path deviation information of the preset control path and the actual control path;
and the picking and disconnecting module is used for starting the picking and disconnecting logic to pick and disconnect the target coupler when the actual position of the manipulator of the picking manipulator regulated and controlled based on the fine-tuning control rule is in the preset range of the target connecting position. One or more technical schemes provided by the application have at least the following technical effects or advantages:
The application provides a car dumper intelligent recognition car coupler method and system based on a unhooking robot, relates to the technical field of mechanical operation, solves the technical problem of low unhooking operation efficiency of the unhooking robot caused by inaccurate recognition of a car dumper hook in the prior art, realizes reasonable and accurate recognition of the car dumper coupler, and achieves the technical effect of improving the unhooking operation efficiency of the unhooking robot.
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In order to more clearly illustrate the technical solution of the embodiments of the present application, the following description will briefly refer to the accompanying drawings of the embodiments of the present application, in which flowcharts are used to illustrate operations performed by systems according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in order precisely. Rather, the various steps may be processed in reverse order or simultaneously, as desired. Also, other operations may be added to or removed from these processes.
Fig. 1 is a schematic flow chart of a method for intelligently identifying a car coupler of a car dumper based on a unhooking robot according to an embodiment of the application;
fig. 2 is a schematic structural diagram of a car dumper intelligent recognition coupler system based on a unhooking robot according to an embodiment of the application.
Reference numerals illustrate: 10 is a traversal matching module, 20 is a first model building module, 30 is a second model building module, 40 is a first analysis module, 50 is a dynamic monitoring module, 60 is a rule generating module, and 70 is a picking and disconnecting module.
Detailed Description
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict, the term "first\second" being referred to merely as distinguishing between similar objects and not representing a particular ordering for the objects. The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or modules that may not be expressly listed or inherent to such process, method, article, or apparatus, and unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for the purpose of describing embodiments of the application only.
The embodiment of the application provides a method for intelligently identifying a car coupler by a car dumper based on an unhooking robot, which is applied to a car dumper intelligent identification car coupler system based on the unhooking robot, as shown in fig. 1, and comprises the following steps:
Step A100, traversing a target vehicle characteristic information set matched with a target vehicle in a vehicle database;
The method comprises the steps of firstly identifying and marking the coupler in a target area, wherein the identified characteristic can comprise information such as the type, the position and the size of the coupler, comparing the coupler characteristic information by searching a characteristic information set matched with a target vehicle in a vehicle database after the position and the type of the coupler are identified, wherein the vehicle database comprises the target vehicle and the coupler characteristic corresponding to the target vehicle, further automatically adjusting the position and the gesture to perform uncoupling operation according to the position and the type of the coupler after confirming the identity of the target vehicle, further integrating the successfully matched data after traversing the vehicle database as target index data, generating a target vehicle characteristic information set for outputting, and further comprising the characteristic information such as the type model of the target vehicle, the carriage structure size, the inter-carriage connection mode, the structure size of the coupler and the like in the target vehicle information set, wherein intelligent identification of the coupler robot is realized in the later stage as an important reference basis.
Executing step A200, constructing a target carriage three-dimensional model according to a target carriage characteristic information set of the target carriage extracted from the target vehicle characteristic information set;
Retrieving and extracting target carriage characteristic information of the target carriage from a target carriage characteristic information set based on historical data and design specifications, wherein the target carriage characteristic information can comprise characteristic information such as size, shape, structure, color, door and window position and the like of the target carriage, so as to acquire the target carriage characteristic information set, then cleaning the data of the target carriage characteristic information set, ensuring consistency and accuracy of the data, constructing a three-dimensional model of the target carriage by utilizing three-dimensional modeling software, namely drawing basic shape and structure of the carriage in the software according to the extracted characteristic information set, further, according to information such as color, texture and the like of the carriage, adding the details of doors, windows, decorations, marks and the like of the carriage as the target carriage three-dimensional model, adding corresponding materials and mapping, finally, verifying the accuracy and the integrity of the target carriage three-dimensional model, optimizing the target carriage three-dimensional model, adjusting the size, the angle or the details to improve the accuracy and the performance of the target carriage three-dimensional model, ensuring the matching of the target carriage three-dimensional model and an actual carriage, integrating the target carriage three-dimensional model into a system, and enabling the target carriage three-dimensional model to identify the target carriage and automatically unhook in actual operation, thereby ensuring the intelligent identification of the car dumper of the unhook robot.
Executing a step A300, wherein the target carriage three-dimensional model is rendered into a target area three-dimensional model by combining the target carriage position of the target carriage to obtain a target twin model, and the target area three-dimensional model refers to a three-dimensional model of a car dumper operation area;
After the three-dimensional model of the target carriage is built, the three-dimensional model is rendered into the three-dimensional model of the target area by combining the position of the target carriage in the operating area of the tippler, and a target twin model can be generated by laser scanning and three-dimensional reconstruction technology. The target twin model is a virtual model which is highly similar to an actual car dumper operation area, comprises key elements such as a carriage, a car dumper, a unhooking robot and the like in the actual operation area, constructs a three-dimensional model representing the car dumper operation area based on key information such as the position, the track layout, the size and the shape of the operation area and the like of the car dumper, can then align a specific position of the target carriage in the car dumper operation area, namely the actual position of the carriage to be dumped, of the target carriage in theory, the carriage position of the target carriage needs to be stopped in the middle of a hollow area of the car dumper, can comprise information such as center point coordinates, directions, postures and the like in the target carriage position, further aligns the constructed three-dimensional model of the target carriage with the three-dimensional model of the target area, the method comprises the steps of ensuring that a carriage model is placed at a correct position, wherein a three-dimensional model of a target area is a three-dimensional model of a rollover operation area of a rollover machine, the rollover operation area is a hollow area of the rollover machine, namely, position information of a space area, rendering the target carriage model into the target area model by further using a three-dimensional rendering technology, ensuring that the proportion, the direction and the position of the carriage model and the operation area model are correct, outputting the three-dimensional model containing the rollover operation area of the target carriage, namely, a target twin model, verifying the generated twin model, ensuring that the position and the posture of the carriage model are consistent with actual conditions, and performing intelligent recognition tamping foundation of a coupler of the rollover machine of the unhooking robot for subsequent realization.
Executing step A400, wherein a path planning unit of an industrial control center takes a target connection position predicted by analyzing the structural characteristics of a target model of the target twin model as an end point of a control path, and takes a manipulator homing position of a unhooking manipulator of a unhooking robot as an initial point of the control path to generate a preset control path; in order to guide the unhooking robot to move from the homing position to the target connecting position in the target twin model accurately for unhooking operation, therefore, firstly, three-dimensional structural characteristics such as size, shape, position of connecting points, and possible obstacles of the target carriage in the target twin model are analyzed, the path planning unit predicts the target connecting position based on the analysis of the structural characteristics of the target carriage, the target connecting position can be a position for connecting the target carriage with a coupler of other carriages in the target vehicle, including two, here, any one of the two coupler, namely, the front and rear coupler of one carriage is disconnected, further, the starting point of the control path is set to be the homing position of the manipulator of the unhooking robot, namely, the initial position to which the unhooking robot returns after one unhooking operation is completed, and the end point of the control path is the predicted target connecting position, namely, the position to which the unhooking robot needs to arrive, so as to perform unhooking operation.
In one possible implementation, step a400 further includes step a410 of obtaining first spatial coordinates of the manipulator homing position by rendering a manipulator three-dimensional model of the unhooking manipulator to the target twinning model;
The method comprises the steps of obtaining the geometric shape, the size, the joint configuration and the possible movement range of a manipulator based on the design specification or the physical measurement of the manipulator, constructing a manipulator three-dimensional model of the unhooked manipulator, adjusting the position and the direction of the model in a three-dimensional environment according to the actual installation position and the gesture of the manipulator, importing the three-dimensional model of the manipulator into the same three-dimensional environment as a target twin model, ensuring that the three-dimensional model of the manipulator is matched with the actual position in the target twin model, selecting a homing position suitable for the manipulator in the target twin model according to actual requirements and safety considerations, wherein the homing position is usually the default position of the manipulator when the manipulator is not in operation, extracting position space coordinates expressed in the form of a three-dimensional Cartesian coordinate system (X, Y, Z) from the three-dimensional environment after the homing position is determined, ensuring that the extracted coordinates are a unified coordinate system relative to the target twin model, and recording the unified coordinates as first space coordinates for output.
Step A420 is further executed, wherein the target characteristic information of the target coupler in the target vehicle characteristic information set is extracted; executing step A430, rendering a target coupler three-dimensional model constructed based on the target characteristic information to the target twin model, and acquiring second space coordinates of the target coupler in the target twin model; step a440 is performed to generate the predetermined control path based on the first spatial coordinates and the second spatial coordinates.
The method comprises the steps of identifying characteristic information including the shape, the size, the position, the color, the identification and the like of a coupler relative to a target coupler from a target vehicle characteristic information set, determining the target characteristic information of the target coupler, constructing a target coupler three-dimensional model based on the target characteristic information by utilizing three-dimensional modeling software, further guiding the constructed target coupler three-dimensional model into a target twin model, adjusting the position of the target coupler three-dimensional model in the target twin model according to the actual position of the target coupler on a target vehicle, ensuring that the position of the target coupler three-dimensional model is consistent with the coupler position of the target vehicle, extracting the space coordinates of the target coupler three-dimensional model in the target twin model, recording the space coordinates of the target coupler three-dimensional model as second space coordinates relative to a unified coordinate system of the whole twin model, obtaining displacement lengths of a manipulator in three axial directions by respectively comparing the three-axis data, and generating a preset control path from the homing position of the manipulator to the target coupler by combining the first space coordinates of the target coupler with the second space coordinates of the target coupler.
Step A500 is executed, wherein a path monitoring unit of the industrial control center dynamically monitors and obtains a moving path of the unhooking manipulator based on the preset control path and records the moving path as an actual control path;
The path monitoring unit is started in the industrial control center, so that communication connection between the path monitoring unit and the control system of the unhooking robot is ensured, and the monitoring unit is configured to receive real-time data of the control system including information of the current position, speed, gesture and the like of the manipulator.
In a possible implementation manner, the step a500 further includes a step a510 of acquiring an infrared detection device, where the infrared detection device is communicatively connected to the path monitoring unit; step A520 is executed, wherein the signal transmitting equipment in the infrared detection equipment is arranged on the target connecting surface of the target carriage, and the signal receiving equipment in the infrared detection equipment is arranged on the adjacent connecting surface of the target adjacent carriage; step A530 is executed, wherein the signal transmitting device transmits an infrared signal, the signal receiving device receives the transmitted infrared signal, and the signal transmitting-receiving time difference time sequence is monitored and calculated; executing step a540, extracting a first time difference sequence at a first time in the signal transmitting-receiving time difference time sequence, wherein the first time difference sequence comprises a plurality of time differences; step A550 is executed, and the plurality of time difference values are analyzed to obtain a first real-time position coordinate of the unhooking manipulator at the first time; step a560 is executed to form the actual control path based on the first real-time position coordinates.
In order to more accurately monitor and control the moving path of the unhooking robot, an infrared detection device is introduced to assist the path monitoring unit. The infrared detection device can measure the time difference between signal transmission and receiving by transmitting and receiving infrared signals, so as to calculate the real-time position of the unhooking manipulator, firstly, ensure that the infrared detection device and a path monitoring unit of an industrial control center can establish communication connection so as to transmit data in real time, ensure that the communication connection between the infrared detection device and the path monitoring unit has enough precision and stability so as to meet the unhooking operation requirement, arrange the signal transmission device of the infrared detection device on the target connection surface of a target carriage, the target connection surface can be the position where the unhooking manipulator needs to contact or approach in the unhooking process, arrange the signal receiving device of the infrared detection device on the adjacent connection surface of the target adjacent carriage, and when the signal transmission device transmits infrared signals, the signal receiving device can receive signals, further, the signal transmitting device transmits an infrared signal, the signal receiving device records the received time after receiving the infrared signal, compares the received time with the transmitted time, calculates the time difference between signal transmission and signal reception, the path monitoring unit continuously monitors the time difference between signal transmission and signal reception to form a time difference time sequence, namely the time difference time sequence of signal transmission and signal reception, the time difference time sequence of signal transmission and signal reception is continuously updated along with the time, further, a first time difference sequence under the first time is extracted from the time difference time sequence, the first time difference sequence comprises a plurality of time differences, each time difference represents the time difference between signal transmission and signal reception at the time point, further analyzes the plurality of time differences, and if any position corresponds to a large time difference, by way of example, the method comprises the steps that a first signal is intercepted at a manipulator, the manipulator is displaced to the position, a second signal is received by receiving equipment, the time difference is larger than the average value, a first real-time position coordinate of the coupler picking manipulator at the first time is calculated, the first real-time position coordinate is three-dimensional coordinate information, the calculated first real-time position coordinate is compared with a preset control path, the deviation condition of the manipulator in actual operation is obtained, meanwhile, the preset control path can be adjusted according to a comparison result, and an actual control path closer to the actual operation is formed, so that the coupler of a car dumper of the coupler picking robot can be intelligently identified for later period to serve as reference data.
Executing step A600, generating a fine tuning control rule based on the path deviation information of the preset control path and the actual control path;
In order to optimize the operation precision and efficiency of the unhooking manipulator, a fine tuning control rule is generated based on path deviation information of a predetermined control path and an actual control path, the predetermined control path and the actual control path are compared point by point or section by section, deviation data between the predetermined control path and the actual control path, namely path deviation information is recorded, the path deviation information can comprise a plurality of aspects such as position deviation, direction deviation and speed deviation, the recorded deviation data are quantitatively analyzed according to the further calculated deviation size, frequency and change trend, the motion characteristics of the unhooking manipulator, environmental conditions and the performance of a control system are combined, the reasons for the deviation are analyzed, the reasons for the deviation can comprise motion errors of the manipulator, insufficient sensor precision, environmental factor interference (such as wind and temperature), incorrect parameter setting of the control system and the like, and finally, the targeted fine tuning control rule is formulated according to the deviation analysis result, the positioning precision of the manipulator can be adjusted for the position deviation or the position compensation mechanism can be increased, the motion track of the manipulator can be optimized for the direction deviation or the steering control strategy can be adjusted, and the motion parameters of the manipulator can be adjusted for the speed deviation.
In a possible implementation manner, the step a600 further includes a step a610 of extracting target structural feature information in the target feature information; and executing step A620, and adjusting the fine adjustment control rule according to the position of the target handle on the target coupler in the target structural feature information.
In the process of generating the fine adjustment control rule, the position of the target handle on the target coupler needs to be considered, because the operation precision and efficiency of the unhooking manipulator are directly affected, and the position of the handle may be changed according to different types of vehicle types, coupler types or maintenance states, so that the fine adjustment control rule needs to be correspondingly adjusted according to the handle position in the target structural feature information, firstly, the target structural feature information which is related to the target coupler and the handle thereof and can include the position, shape, size and relative position relative to the coupler or other components of the target coupler is extracted from the target feature information set, further, how different positions of the target handle affect the operation and performance of the unhooking manipulator is analyzed, and the exemplary position of the target handle determines the approaching path, the grabbing angle or the force application point of the manipulator.
And finally, executing a step A700, and starting a unhooking brake logic to unhook and disconnect the target coupler when the actual position of the manipulator of the unhooking manipulator regulated and controlled based on the fine-tuning control rule is in a preset range of the target connection position. In a possible implementation manner, the step a700 further includes a step a710, where an optimal uncoupling control scheme of the target coupler is obtained through the uncoupling control optimization model;
in one possible implementation, step a710 further includes step a711 of retrieving a historical unhooking record of the unhooking robot; step A712 is executed, wherein a first history record in the history unhooking records is extracted, and the first history record refers to any history record of the unhooking manipulator picking the target coupler;
In order to further improve the operation performance and efficiency of the unhooking manipulator, firstly, a historical unhooking record of the unhooking manipulator is called through a database or a data storage system of an industrial control center, the historical unhooking record can contain detailed information of unhooking operation each time, such as control parameters, operation time, success rate and the like, any unhooking operation aiming at a target coupler is further extracted from the historical unhooking record to serve as a first historical record, and meanwhile the first historical record serves as training data and is used for subsequent supervision learning and model optimization.
Step a713 is further executed, wherein the first historical unhooking control parameter, the first historical unhooking efficiency and the first historical unhooking safety index in the first historical record are used as a first training data set to perform supervised learning and checking to obtain a unhooking control optimization model; by extracting key information including a first historical unhooking control parameter, a first historical unhooking efficiency, a first historical unhooking safety index and the like from a first historical record, wherein the first historical unhooking control parameter includes parameters such as a motion track, a speed, an acceleration and the like of a manipulator, the first historical unhooking efficiency includes data such as time required for unhooking, operation times and the like, the first historical unhooking safety index includes a manual evaluation record, some unhooking operations pursue high efficiency, potential safety hazards exist, and further includes data such as failure rate, misoperation rate and the like in the operation process, and in one possible implementation mode, the step A713 further includes a step A7131 of reading a preset unhooking control index; step A7132 is executed, and the first history record is subjected to traversal matching based on the preset unhooking control index to obtain the first history unhooking control parameter;
The method comprises the steps of reading a preset unhooking control index from an industrial control center or a related configuration file, wherein the preset unhooking control index can comprise a motion track, a speed, an acceleration, a positioning precision and the like of a manipulator, is used for defining a performance standard which should be achieved by unhooking operation, performing traversal matching on a first historical record by using the preset unhooking control index as a matching condition, extracting a historical unhooking operation which accords with the preset control index, and extracting related control parameters such as an actual motion track, an actual speed, an actual acceleration and the like of the manipulator for the successfully matched historical unhooking operation.
And then the first historical unhooking control parameter, the first historical unhooking efficiency and the first historical unhooking safety index are arranged into a first training data set for subsequent supervised learning, and the machine learning algorithm is utilized to supervise and learn the first training data set. The parameters and the structure of the model are continuously adjusted and optimized, so that the model can more accurately predict and control the operation of the unhooking manipulator, the model is checked by using methods such as cross verification and the like in the learning process, the model is ensured to have good generalization capability and stability, and after supervision, learning and checking, the unhooking control optimization model aiming at the target coupler is output. And the unhooking control optimization model can automatically adjust the control parameters of the manipulator according to the current environment and conditions so as to realize more efficient and safer unhooking operation.
Step A714 is executed, and the unhooking control optimization model is embedded into a unhooking activation unit of the industrial control center. And (3) obtaining an optimal unhooking control scheme of the target coupler through the unhooking control optimization model, executing a step A720, and taking the optimal unhooking control scheme as the unhooking braking logic to unhook and disconnect the target coupler.
The method comprises the steps of deploying a model file on a server of an industrial control center, ensuring that a software environment of the industrial control center can support running and calling of the model, achieving the effect that a unhook control optimization model obtained through training and optimization is embedded into a unhook activation unit of the industrial control center, triggering the running of the unhook control optimization model through a calling interface by the industrial control center when unhook operation is required to be executed, calculating an optimal unhook control scheme according to input real-time information of a target car coupler by the model through combining historical data and an optimization strategy obtained through training, wherein the optimal unhook control scheme can comprise control parameters such as a movement track, speed, acceleration and positioning accuracy of a manipulator, and order and steps of unhook operation, taking the optimal unhook control scheme as unhook brake logic, sending the unhook control command to the unhook manipulator through the industrial control center, executing unhook operation according to the optimal scheme by the manipulator, and performing accurate operations such as unhook operation on the target car coupler, so that intelligent recognition of the car coupler of the unhook robot is better guaranteed in the later period.
The embodiment of the application solves the technical problem of low unhooking operation efficiency of the unhooking robot caused by inaccurate recognition of the locomotive unhooking in the prior art, realizes reasonable and accurate recognition of the locomotive unhooking hook, and achieves the technical effect of improving the unhooking operation efficiency of the unhooking robot.
Hereinabove, a method for intelligently identifying coupler of car dumper based on unhooking robot according to an embodiment of the invention is described in detail with reference to fig. 1. Next, a car dumper intelligent recognition coupler system based on a uncoupling robot according to an embodiment of the present invention will be described with reference to fig. 2.
According to the intelligent recognition car coupler system of the car dumper based on the unhooking robot, which is disclosed by the embodiment of the invention, the technical problem that the unhooking robot has low unhooking operation efficiency due to inaccurate recognition of the car dumper hook in the prior art is solved, the reasonable and accurate recognition of the car dumper coupler is realized, and the technical effect of improving the unhooking operation efficiency of the unhooking robot is achieved. The intelligent car dumper recognition coupler system based on the unhooking robot comprises: the traversal matching module 10, the first model building module 20, the second model building module 30, the first analysis module 40, the dynamic monitoring module 50, the rule generating module 60, the extraction breaking module 70.
A traversal matching module 10, wherein the traversal matching module 10 is used for traversing a target vehicle characteristic information set of a matched target vehicle in a vehicle database;
a first model construction module 20, wherein the first model construction module 20 is used for constructing a three-dimensional model of a target compartment according to a target compartment characteristic information set of the target compartment extracted from the target vehicle characteristic information set;
the second model building module 30 is configured to render the target carriage three-dimensional model into a target area three-dimensional model in combination with a target carriage position of the target carriage to obtain a target twin model, where the target area three-dimensional model is a three-dimensional model of a rollover operation area of the rollover machine;
the first analysis module 40 is configured to generate a predetermined control path by using a path planning unit of an industrial control center, using a target connection position predicted by a target model structural feature of the target twin model as an end point of the control path, and using a manipulator homing position of a hook picking manipulator of the hook picking robot as a start point of the control path;
The dynamic monitoring module 50 is configured to dynamically monitor, by using a path monitoring unit of the industrial control center, a moving path of the unhooking manipulator based on the predetermined control path, and record the moving path as an actual control path;
a rule generation module 60, wherein the rule generation module 60 is configured to generate a fine adjustment control rule based on path deviation information comparing the predetermined control path and the actual control path;
and the extraction disconnection module 70 is used for starting extraction braking logic to extract and disconnect the target coupler when the actual position of the manipulator of the unhooking manipulator regulated and controlled based on the fine tuning control rule is in a preset range of the target connection position.
Next, the specific configuration of the first analysis module 40 will be described in detail. As described above, the path planning unit of the industrial control center generates the predetermined control path by using the target connection position predicted by the target model structural feature of the target twin model as the end point of the control path and the manipulator homing position of the unhooking manipulator of the unhooking robot as the start point of the control path, and the first analysis module 40 may further include: the first rendering unit is used for obtaining first space coordinates of the homing position of the manipulator by rendering the manipulator three-dimensional model of the unhooking manipulator to the target twin model; the first extraction unit is used for extracting target characteristic information of the target coupler in the target vehicle characteristic information set; the second rendering unit is used for rendering the three-dimensional model of the target coupler constructed based on the target characteristic information to the target twin model and acquiring second space coordinates of the target coupler in the target twin model; the first path generation unit is used for generating the preset control path based on the first space coordinate and the second space coordinate.
Next, the specific configuration of the dynamic monitoring module 50 will be described in detail. As described above, the path monitoring unit of the industrial control center dynamically monitors and obtains the moving path of the unhooking manipulator based on the predetermined control path, and records the moving path as an actual control path, and the dynamic monitoring module 50 may further include: the communication connection unit is used for acquiring infrared detection equipment, and the infrared detection equipment is in communication connection with the path monitoring unit; the layout unit is used for arranging the signal transmitting equipment in the infrared detection equipment on the target connecting surface of the target carriage and arranging the signal receiving equipment in the infrared detection equipment on the adjacent connecting surface of the target adjacent carriage; the signal receiving unit is used for transmitting an infrared signal through the signal transmitting device, receiving the transmitted infrared signal by the signal receiving device, and monitoring and calculating to obtain a signal transmitting-receiving time difference time sequence; the second extraction unit is used for extracting a first time difference sequence at a first time in the signal transmission-reception time difference time sequence, and the first time difference sequence comprises a plurality of time differences; the second analysis unit is used for analyzing the plurality of time difference values to obtain a first real-time position coordinate of the unhooking manipulator at the first time; the second path generation unit is used for forming the actual control path based on the first real-time position coordinates.
Next, the specific configuration of the rule generation module 60 will be described in detail. As described above, after generating the fine control rule based on the path deviation information comparing the predetermined control path and the actual control path, the rule generating module 60 may further include: the third extraction unit is used for extracting target structure characteristic information in the target characteristic information; and the rule adjusting unit is used for adjusting the fine adjustment control rule according to the position of the target handle on the target coupler in the target structural characteristic information.
Next, a specific configuration of the extraction disconnection module 70 will be described in detail. As described above, the pick-off module 70 may further include: the record retrieving unit is used for retrieving the history unhooking record of the unhooking manipulator; the fourth extraction unit is used for extracting a first history record in the history unhooking records, wherein the first history record refers to any history record of the unhooking manipulator for picking the target coupler; the third model construction unit is used for performing supervised learning and checking on a first historical unhooking control parameter, a first historical unhooking efficiency and a first historical unhooking safety index in the first historical record as a first training data set to obtain a unhooking control optimization model; the optimizing unit is used for embedding the unhooking control optimizing model into the unhooking activating unit of the industrial control center.
Next, a specific configuration of the third model building unit will be described in detail. As described above, the obtaining of the first historical unhooking control parameter, the third model building unit may further include: the index reading unit is used for reading a preset unhooking control index; the traversal matching unit is used for performing traversal matching on the first history record based on the preset unhooking control index to obtain the first history unhooking control parameter;
wherein the preset unhooking control index comprises unhooking angle, unhooking pose, unhooking force and unhooking speed.
Next, a specific configuration of the extraction disconnection module 70 will be described in detail. As described above, activating the uncoupling braking logic to uncoupling the target coupler, the uncoupling module 70 may further include: the scheme acquisition unit is used for obtaining an optimal unhooking control scheme of the target car coupler through the unhooking control optimization model; and the scheme execution unit is used for taking the optimal uncoupling control scheme as the uncoupling braking logic to carry out uncoupling and disconnection on the target coupler.
The intelligent car dumper coupler recognition system based on the unhooking robot provided by the embodiment of the invention can execute the intelligent car dumper coupler recognition method based on the unhooking robot provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Although the present application makes various references to certain modules in a system according to embodiments of the present application, any number of different modules may be used and run on a user terminal and/or server, including units and modules that are merely partitioned by functional logic, but are not limited to the above-described partitioning, so long as the corresponding functionality is enabled; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (8)
1. The intelligent car dumper coupler recognition method based on the unhooking robot is characterized by comprising the following steps of:
traversing a target vehicle feature information set of a matched target vehicle in a vehicle database;
constructing a target compartment three-dimensional model according to a target compartment characteristic information set of the target compartment extracted from the target vehicle characteristic information set;
Rendering the target carriage three-dimensional model into a target area three-dimensional model by combining the target carriage position of the target carriage to obtain a target twin model, wherein the target area three-dimensional model refers to a three-dimensional model of a rollover operation area of a rollover machine;
the path planning unit of the industrial control center takes a target connection position predicted by analyzing the target model structural characteristics of the target twin model as an end point of a control path, and takes a manipulator homing position of a unhooking manipulator of the unhooking robot as a start point of the control path to generate a preset control path;
dynamically monitoring and obtaining a moving path of the unhooking manipulator based on the preset control path through a path monitoring unit of the industrial control center, and recording the moving path as an actual control path;
Generating a fine tuning control rule based on path deviation information comparing the predetermined control path with the actual control path;
And when the actual position of the manipulator of the unhooking manipulator regulated and controlled based on the fine-tuning control rule is in a preset range of the target connection position, starting unhooking brake logic to unhook and disconnect the target coupler.
2. The method for intelligently identifying a car dumper coupler based on an unhooking robot according to claim 1, wherein the path planning unit of the industrial control center generates a predetermined control path by taking a target connection position predicted by analyzing a target model structural feature of the target twin model as an end point of the control path and a manipulator homing position of a unhooking manipulator of the unhooking robot as an initial point of the control path, and comprises:
a first space coordinate of the homing position of the manipulator is obtained by rendering a manipulator three-dimensional model of the unhooking manipulator to the target twin model;
extracting target characteristic information of the target coupler in the target vehicle characteristic information set;
Rendering a target coupler three-dimensional model constructed based on the target characteristic information to the target twin model, and acquiring a second space coordinate of the target coupler in the target twin model;
The predetermined control path is generated based on the first spatial coordinates and the second spatial coordinates.
3. The method for intelligently identifying a car coupler of a car dumper based on an unhooking robot according to claim 1, wherein the moving path of the unhooking robot based on the preset control path is dynamically monitored and obtained by a path monitoring unit of the industrial control center and is recorded as an actual control path, and the method comprises the following steps:
Acquiring infrared detection equipment, wherein the infrared detection equipment is in communication connection with the path monitoring unit;
Arranging signal transmitting equipment in the infrared detection equipment on a target connecting surface of the target carriage, and arranging signal receiving equipment in the infrared detection equipment on an adjacent connecting surface of an adjacent target carriage;
Transmitting an infrared signal through the signal transmitting equipment, receiving the transmitted infrared signal by the signal receiving equipment, and monitoring and calculating to obtain a signal transmitting-receiving time difference time sequence;
Extracting a first time difference sequence at a first time in the signal transmission-reception time difference time sequence, wherein the first time difference sequence comprises a plurality of time differences;
analyzing the plurality of time differences to obtain a first real-time position coordinate of the unhooking manipulator at the first time;
the actual control path is formed based on the first real-time position coordinates.
4. The method for intelligently identifying a car coupler of a car dumper based on an unhooking robot according to claim 2, wherein a fine tuning control rule is generated based on path deviation information comparing the predetermined control path and the actual control path, and further comprising:
Extracting target structural feature information in the target feature information;
and adjusting the fine adjustment control rule according to the position of the target handle on the target coupler in the target structural feature information.
5. The method for intelligently identifying car couplers of a car dumper based on unhooking robot as set forth in claim 1, further comprising:
The historical unhooking record of the unhooking manipulator is called;
extracting a first history record in the history uncoupling records, wherein the first history record refers to any history record of the uncoupling manipulator for picking the target coupler;
taking a first historical unhooking control parameter, a first historical unhooking efficiency and a first historical unhooking safety index in the first historical record as a first training data set to conduct supervision learning and inspection to obtain a unhooking control optimization model;
and embedding the unhooking control optimization model into a unhooking activation unit of the industrial control center.
6. The method for intelligently identifying a car coupler for a car dumper based on an unhooking robot according to claim 5, wherein the step of obtaining the first historical unhooking control parameter comprises the steps of:
Reading a preset unhooking control index;
performing traversal matching on the first history record based on the preset unhooking control index to obtain the first history unhooking control parameter;
wherein the preset unhooking control index comprises unhooking angle, unhooking pose, unhooking force and unhooking speed.
7. The method for intelligently identifying a coupler of a car dumper based on a unhooking robot according to claim 5, wherein the step of starting unhooking braking logic to unhook and disconnect a target coupler comprises the steps of:
obtaining an optimal unhooking control scheme of the target car coupler through the unhooking control optimization model;
and taking the optimal unhooking control scheme as the unhooking braking logic to unhook and disconnect the target coupler.
8. A car dumper intelligent recognition coupler system based on an uncoupling robot, which is used for implementing the car dumper intelligent recognition coupler method based on the uncoupling robot, and comprises the following steps:
The traversal matching module is used for traversing the target vehicle characteristic information set of the matched target vehicle in the vehicle database;
A first model building module for building a target cabin three-dimensional model from a target cabin feature information set of a target cabin extracted from the target vehicle feature information set;
The second model building module is used for rendering the target carriage three-dimensional model into a target area three-dimensional model by combining the target carriage position of the target carriage to obtain a target twin model, and the target area three-dimensional model is a three-dimensional model of a rollover operation area of the rollover machine;
the first analysis module is used for a path planning unit of the industrial control center to take a target connection position predicted by the structural characteristics of a target model of the target twin model as an end point of a control path, and a manipulator homing position of a unhooking manipulator of the unhooking robot as a starting point of the control path to generate a preset control path;
The dynamic monitoring module is used for dynamically monitoring and obtaining a moving path of the unhooking manipulator based on the preset control path through a path monitoring unit of the industrial control center and recording the moving path as an actual control path;
The rule generation module is used for generating a fine adjustment control rule based on path deviation information of the preset control path and the actual control path;
and the picking and disconnecting module is used for starting the picking and disconnecting logic to pick and disconnect the target coupler when the actual position of the manipulator of the picking manipulator regulated and controlled based on the fine-tuning control rule is in the preset range of the target connecting position.
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