CN118270529B - Control method and control device of intelligent traditional Chinese medicine feeding robot - Google Patents
Control method and control device of intelligent traditional Chinese medicine feeding robot Download PDFInfo
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Abstract
The invention discloses a control method and a control device of an intelligent traditional Chinese medicine feeding robot, wherein the feeding robot comprises a movable base and a clamping mechanism which is arranged on the movable base and used for overturning and dumping a material barrel, the clamping mechanism is provided with two clamping arms which are respectively arranged on the left side and the right side above the movable base and can transversely move relative to the movable base, after feeding list information to be transported is obtained and a material barrel receives a position, the two clamping arms are controlled to lift the material barrel, the weight of the material barrel and the pressure difference of the two arms are collected, then a moving path is planned, and when the pressure difference of the two arms is larger than a set value and the moving path is provided with a moving action of turning towards the clamping arm direction on the side with smaller pressure, the two clamping arms are controlled to push the material barrel to move to a biasing position, and finally the material barrel is placed on a bearing platform of the movable base and is controlled to move to a feeding place, so that the stability of the feeding robot in the driving and turning process is improved.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a control method and a control device of an intelligent traditional Chinese medicine feeding robot.
Background
Along with the industrial development and the transformation upgrading of intelligent manufacturing, the use of a feeding robot in the industrial production process to improve the material distribution and feeding efficiency and reduce the harm of dust and volatile environment to human health gradually becomes a common mode of industrial production. In the working process, the feeding robot holds materials through devices such as a clamping bucket and the like and runs along a planned route to transport the materials. However, because the material conveying route is not a straight line under the normal condition, and the material is accumulated and distributed unevenly in the charging basket, the feeding robot easily causes the gravity center deviation of the whole equipment due to the mass difference of each part of the material in the charging basket in the automatic distribution process, so that the side turning condition occurs at the turning position, and the material loss and the production line safety accident are caused.
Disclosure of Invention
The invention discloses a control method and a control device of an intelligent traditional Chinese medicine feeding robot aiming at the defects in the prior art, wherein the feeding robot comprises a movable base and a clamping mechanism which is arranged on the movable base and is used for overturning and dumping a charging barrel, the clamping mechanism is provided with two clamping arms which can transversely move relative to the movable base, and the two clamping arms are respectively arranged on the left side and the right side above the movable base; the control method of the feeding equipment comprises the following steps:
S1, acquiring charging list information to be transferred, wherein the charging list information comprises a charging bucket specification, a charging place and a charging place, and the charging list information is moved to a corresponding position according to the charging place;
S2, controlling the two clamping arms to lift the charging bucket after the charging bucket receives the position, collecting the pressure of the charging bucket downwards applied to the clamping arms at the two sides, and obtaining the weight of the charging bucket and the pressure difference of the two arms;
S3, planning a moving path according to the charging place and the discharging place, and controlling the two clamping arms to push the charging barrel to move to the offset position in the direction of the clamping arm at the side with smaller pressure if the pressure difference between the two arms is larger than a set value and the moving path is provided with a moving action of turning in the direction of the clamping arm at the side with smaller pressure, and controlling the moving base to carry the charging barrel to the discharging place according to the moving path after controlling the two clamping arms to place the charging barrel on the bearing platform of the moving base.
Preferably, the step S3 further includes: obtaining a corresponding movement control configuration in a vehicle control database according to the weight of the charging bucket, wherein the movement control configuration comprises the running speed of the vehicle and a corresponding offset adjustment value; if the running speed of the vehicle is not greater than the set threshold value, controlling the two clamping arms to drive the charging basket to an initial centering position; if the running speed of the vehicle is greater than the set threshold, determining the placement position of the charging basket according to the curve state in the current moving path and whether the pressure difference of the two arms is greater than the offset adjustment value corresponding to the running speed of the vehicle.
Preferably, the step S3 further includes: when the pressure difference between the two arms is larger than an offset adjustment value corresponding to the running speed of the vehicle, if the moving path of the vehicle has a moving action of turning towards the clamping arm direction at the side with smaller pressure, the two clamping arms are controlled to push the charging bucket to move towards the clamping arm direction at the side with smaller pressure to an offset position; when the pressure difference of the two arms is not larger than the offset adjustment value corresponding to the running speed of the vehicle, the two clamping arms are controlled to drive the charging basket to the initial centering position, and when the charging basket is at the initial centering position, the distance between the two clamping arms and the corresponding side of the movable base is the same.
Preferably, the step S2 further includes: after moving to the charging place, the clamps in the two clamping arms are lowered to the corresponding heights according to the specification of the charging bucket, and each rotating roller on the bearing platform is controlled to rotate so as to convey the charging bucket into the clamping mechanism; the storage rotating roller continues to rotate, and the two clamping arms are controlled to drive the charging basket to an initial fixed position and then control the rotating roller to stop.
Preferably, the two clamping arms are controlled to push the charging basket to move to the offset position towards the direction of the clamping arm at the side with smaller pressure, and the method specifically comprises the following steps: according to the pressure difference between the two arms and the specification of the charging basket, calculating and obtaining a vertical surface where the center of gravity of the charging basket is located, controlling the two clamping arms to push the charging basket to move to an offset position in the direction of the clamping arm on the side with smaller pressure, wherein the offset position is configured to move the charging basket to the direction of the clamping arm on the side with smaller pressure until the vertical surface coincides with the longitudinal axis surface of the movable base, or move the charging basket to the direction of the vertical surface close to the movable base until the nearest charging basket is located.
The invention also discloses a control device of the intelligent traditional Chinese medicine feeding robot, wherein the feeding robot comprises a movable base and a clamping mechanism which is arranged on the movable base and used for overturning and dumping a material barrel, the clamping mechanism is provided with two clamping arms which can transversely move relative to the movable base, and the two clamping arms are respectively arranged on the left side and the right side above the movable base; the feeding equipment control device comprises: the information acquisition module is used for acquiring charging list information to be transferred, wherein the charging list information comprises charging bucket specifications, charging places and charging places, and the charging places are moved to corresponding positions according to the charging places; the data acquisition module is used for controlling the two clamping arms to lift the charging basket after the charging basket receives the charging basket, acquiring the pressure of the charging basket downwards applied to the clamping arms at the two sides, and acquiring the weight of the charging basket and the pressure difference of the two arms; and the position adjustment module is used for planning a moving path according to the charging place and the discharging place, and controlling the two clamping arms to push the charging barrel to move to the offset position in the direction of the clamping arm at the side with smaller pressure after controlling the two clamping arms to place the charging barrel on a bearing platform of the moving base and controlling the moving base to carry the charging barrel to the discharging place according to the moving path if the pressure difference of the two arms is larger than a set value and the moving path is provided with a moving action of turning towards the clamping arm at the side with smaller pressure.
Preferably, the position adjustment module further includes: the configuration acquisition module is used for acquiring a corresponding movement control configuration in the vehicle control database according to the weight of the charging bucket, wherein the movement control configuration comprises the vehicle running speed and a corresponding offset adjustment value; the first adjusting module is used for controlling the two clamping arms to drive the charging basket to an initial centering position if the running speed of the vehicle is not greater than a set threshold value; and the second adjusting module is used for determining the placement position of the charging basket according to the curve state in the current moving path and whether the pressure difference of the two arms is larger than an offset adjusting value corresponding to the current vehicle running speed if the current vehicle running speed is larger than a set threshold value.
Preferably, the position adjustment module further includes: the first moving module is used for controlling the two clamping arms to push the charging bucket to move to the offset position in the direction of the clamping arm at the side with smaller pressure if the moving action of turning is carried out in the direction of the clamping arm at the side with smaller pressure on the moving path when the pressure difference between the two arms is larger than the offset adjustment value corresponding to the running speed of the vehicle; and the second moving module is used for controlling the two clamping arms to drive the charging basket to an initial centering position when the pressure difference of the two arms is not larger than an offset adjustment value corresponding to the running speed of the vehicle, and the distance between the two clamping arms and the corresponding sides of the moving base is the same when the charging basket is at the initial centering position.
The data acquisition module further comprises: the conveying module is used for controlling each rotating roller on the bearing platform to rotate to convey the charging bucket into the clamping mechanism after the two clamping arm inner clamps are lowered to the corresponding heights according to the specifications of the charging bucket after the charging bucket is moved to the charging place; and the lifting module is used for keeping the rotating roller to continue to rotate, controlling the two clamping arms to drive the charging basket to an initial fixed position and then controlling the rotating roller to stop.
The invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the intelligent traditional Chinese medicine feeding robot control method according to any one of the above when being executed by a processor.
The invention discloses a control method and a control device of an intelligent traditional Chinese medicine feeding robot, wherein the feeding robot comprises a movable base and clamping mechanisms which are respectively arranged at the left side and the right side above the movable base and used for overturning and dumping a charging barrel, the clamping mechanisms are provided with two clamping arms which can transversely move relative to the movable base, the feeding robot plans a driving path according to acquired transferring and feeding information, and the stacking distribution condition of materials in the charging barrel is judged through collecting pressure differences of the clamping arms at the two sides to control the placing position of the charging barrel in the movable base, so that the overall gravity center of the robot is adjusted under the necessary condition, the stability of the feeding robot in the transmission process is improved, and the situations of rollover and dumping possibly occurring in the turning process of the robot are reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a schematic diagram illustrating steps of a method for controlling an intelligent traditional Chinese medicine feeding robot according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a clamping mechanism of a feeding robot applied to a control method of an intelligent feeding robot for traditional Chinese medicine according to an embodiment of the present invention.
Fig. 3 is another schematic view of a clamping mechanism according to an embodiment of the present invention.
Fig. 4 is a schematic view of a clamping mechanism according to an embodiment of the present invention.
Fig. 5 is a schematic view of a part of a clamping mechanism of the clamping mechanism according to an embodiment of the present invention.
Fig. 6 is a partial enlarged view at a in fig. 5.
Fig. 7 is a schematic diagram illustrating a step of receiving a bucket by a feeding robot according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of the specific steps of the step S3 according to an embodiment of the present invention.
Fig. 9 is a schematic diagram showing the specific steps of step S33 according to an embodiment of the present invention.
Fig. 10 is a block diagram of a control device for an intelligent traditional Chinese medicine feeding robot according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.
Along with the industrial development and the transformation upgrading of intelligent manufacturing, the use of a feeding robot in the industrial production process to improve the material distribution and feeding efficiency and reduce the harm of dust and volatile environment to human health gradually becomes a common mode of industrial production. In the working process, the feeding robot holds materials through devices such as a clamping bucket and runs along a planned route to transport the materials, however, the material transport route is not a straight line under normal conditions, and the materials are accumulated and distributed unevenly in the bucket, so that the feeding robot easily causes the gravity center deviation of the whole equipment due to the mass difference of all parts of materials in the bucket in the automatic distribution process, and side turning occurs at a turning part, so that the material loss and production line safety accidents are caused.
Therefore, the embodiment discloses a control method and a control device of an intelligent traditional Chinese medicine feeding robot, wherein the feeding robot comprises a movable base and a clamping mechanism which is arranged on the movable base and is used for overturning and dumping a charging barrel, the clamping mechanism is provided with two clamping arms which can transversely move relative to the movable base, and the two clamping arms are respectively arranged on the left side and the right side above the movable base. The control method of the feeding equipment is shown in figure 1, and comprises the following steps.
Step S1, acquiring charging list information to be transferred, wherein the charging list information comprises charging bucket specifications, charging places and charging places, and the charging places are moved to corresponding positions according to the charging places.
Specifically, the method for controlling the intelligent Chinese herbal medicine feeding robot disclosed in the embodiment is applied to a feeding robot 100 as shown in fig. 2-6, wherein the feeding robot 100 is provided with a clamping mechanism 30, a conveying assembly 20 and a movable base 10 from top to bottom in sequence.
Specifically, the movable base 10 is used as a supporting component for supporting the conveying component 20 and the clamping mechanism 30, and a plurality of movable wheels 11 rolling relative to the ground are connected in the movable base so as to adjust the position of the movable base relative to the ground, thereby driving the supporting conveying component 20 and the clamping mechanism 30 to move relative to the ground. The conveyor assembly 20 is located above the mobile base 10 and includes a housing 21 connected to the upper side of the mobile base 10 and a conveyor 22 connected to the housing 21 for transporting goods in front and back directions, the material being transferred by the conveyor 22. Alternatively, the conveyor 22 is a conveyor bar set or conveyor belt. The clamping mechanism 30 is located above the mobile base 10 and comprises a bracket 31 mounted to the housing 21 and a clamping module 32 located above the conveyor 22 for clamping the cargo. The clamping module 32 is swingably mounted on the bracket 31, and the position of the clamping module 32 relative to the bracket 31 is adjusted by swinging along the up-down direction so as to perform angle adjustment on clamped goods, so that the goods can be overturned, and the cooperation effect of the clamping module 32 and the conveying line is ensured.
The clamping module 32 further includes a supporting seat 321 disposed at one side of the bracket 31, and a first clamping arm 322 and a second clamping arm 323 connected to the supporting seat 321 for clamping or loosening the cargo. The support base 321 is swingably connected to the bracket 31, and adjusts its position relative to the bracket 31 by swinging in the up-down direction. The first clamping arm 322 and the second clamping arm 323 swing along with the swinging of the supporting seat 321 to realize the angle adjustment of the clamped goods. The first clamping arm 322 and the second clamping arm 323 are movably mounted on the supporting seat 321, and move along the length direction of the supporting seat 321 to clamp or unclamp goods. The bracket 31 further includes a first bracket 311 and a second bracket 312 arranged opposite to each other; the supporting seat 321 is positioned between the first bracket 311 and the second bracket 312 and above the conveying member 22; both ends of the support base 321 are rotatably connected to the first bracket 311 and the second bracket 312, respectively, so as to adjust the positions of the support base 321 relative to the first bracket 311 and the second bracket 312, and the positions of the first clamp arm 322 and the second clamp arm 323 relative to the first bracket 311 and the second bracket 312.
The clamping module 32 further includes a first power module 324 mounted on the first bracket 311 or the second bracket 312, and a second power module 325 mounted on the support base 321. The first power module 324 includes a first power motor 3241 and a first transmission module 3242, wherein a fixed end of the first power motor 3241 is connected to the first bracket 311 or the second bracket 312, one end of the first transmission module 3242 is connected to the first power motor 3241, and the other end is connected to the supporting seat 321, and drives the supporting seat 321 to swing in an up-down direction, so that the supporting seat 321 swings relative to the first bracket 311 and the second bracket 312 through the first power motor 3241 and the first transmission module 3242. The second power module 325 includes a second motor 3251, a second transmission module 3252, a first rotational lever 3253, and a second rotational lever 3254. The fixed end of the second motor 3251 is connected to the supporting seat 321, one end of the second transmission module 3252 is connected to the second motor 3251, and the other end is connected to the first rotating rod 3253 and the second rotating rod 3254, respectively, and drives the first rotating rod 3253 and the second rotating rod 3254 to rotate, so as to adjust the positions of the first rotating rod 3253 and the second rotating rod 3254 relative to the supporting seat 321.
In the present embodiment, the end of the first clamping arm 322 is connected with a first moving seat 3221, and the first moving seat 3221 is screwed to the first rotating rod 3253, so that the first moving seat 3221 moves along with the rotation of the first rotating rod 3253 and drives the first clamping arm 322 to move; the end of the second clamping arm 323 is connected with a second moving seat 3231, and the second moving seat 3231 is screwed to the second rotating rod 3254, so that the second moving seat 3231 moves along with the rotation of the second rotating rod 3254 and drives the second clamping arm 323 to move. A first clamping portion 3222 and a second clamping portion 3223 are also connected within the first clamping arm 322. The first clamping portion 3222 is fixed to the first clamping arm 322, the second clamping portion 3223 is disposed on one side of the first clamping portion 3222 along the up-down direction and is connected to the first clamping arm 322 in a liftable manner, a first air cylinder 3224 is disposed between the second clamping portion 3223 and the first clamping arm 322, the fixed end of the first air cylinder 3224 is connected to the first clamping arm 322, the output end is connected to the second clamping portion 3223, and the second clamping portion 3223 is driven to lift, so as to realize the lifting of the second clamping portion 3223 relative to the first clamping arm 322. Similarly, the second clamp arm 323 is connected to a third clamp portion 3232 and a fourth clamp portion 3233. The third clamping portion 3232 is fixed to the second clamping arm 323, the fourth clamping portion 3233 is disposed at one side of the third clamping portion 3232 along the up-down direction and is connected to the second clamping arm 323 in a liftable manner, a second air cylinder 3234 is disposed between the fourth clamping portion 3233 and the second clamping arm 323, a fixed end of the second air cylinder 3234 is connected to the second clamping arm 323, an output end is connected to the fourth clamping portion 3233, and the fourth clamping portion 3233 is driven to lift, so that the fourth clamping portion 3233 is lifted relative to the second clamping arm 323.
In this embodiment, the feeding robot clamps and moves the charging barrels with different specifications and sizes in directions by moving the first clamping arm 322 and the second clamping arm 323 laterally along the length direction of the supporting seat 321, and lifts and places the charging barrels by lifting the second clamping portion 3223 in the first clamping arm 322 and the fourth clamping portion 3233 in the second clamping arm 323.
And S2, controlling the two clamping arms to lift the charging basket after the charging basket receives the position, collecting the pressure of the charging basket downwards applied to the clamping arms at the two sides, and obtaining the weight of the charging basket and the pressure difference of the two arms.
The weight of the charging basket and the stacking distribution state of the materials in the charging basket determine the pressure applied by the charging basket to the two clamping arms of the feeding robot. Under the condition that the weight of the charging basket is fixed, uneven accumulation of materials in the charging basket can lead to different applied pressures of the two arms of the robot. According to the embodiment, the stacking distribution state of the materials is deduced through the pressure born by the clamping arms on two sides of the robot and the difference value of the pressure, and then the gravity center position of the feeding robot is adjusted through adjusting the position of the charging bucket, so that the stability of the feeding robot in the conveying process is improved.
Specifically, after the feeding robot moves to the loading site, the charging bucket is transferred to the first clamping arm 322 and the second clamping arm 323 of the clamping mechanism 100 through the transfer assembly 20, and the feeding robot lifts the charging bucket in the air by controlling the first clamping arm and the second clamping arm to detect the pressure difference between the two arms and wait for position adjustment of the charging bucket.
In this embodiment, the process of receiving the bucket by the feeding robot is shown in fig. 7, and specifically includes the following.
And S101, after moving to the charging place, the clamps in the two clamping arms are lowered to the corresponding heights according to the specification of the charging bucket, and each rotating roller on the bearing platform is controlled to rotate so as to convey the charging bucket into the clamping mechanism.
And S102, keeping the rotating roller to continue rotating, and controlling the two clamping arms to drive the charging basket to an initial fixed position and then controlling the rotating roller to stop.
In the present embodiment, the two-arm inner clamp is a first clamping portion 322, a second clamping portion 3223, and a fourth clamping portion 3233 in the second clamping arm 323 in the first clamping arm 322. In other embodiments, the rotating roller may also be configured as a conveyor belt or a lifting structure, or the like.
And S3, planning a moving path according to the charging place and the discharging place, and controlling the two clamping arms to push the charging barrel to move to the offset position in the direction of the clamping arm at the side with smaller pressure if the pressure difference between the two arms is larger than a set value and the moving path is provided with a moving action of turning towards the clamping arm at the side with smaller pressure, and controlling the moving base to carry the charging barrel to the discharging place according to the moving path.
Under the condition that the mass distribution of the materials in the charging bucket is uneven, the whole gravity center of the charging robot for clamping the charging bucket deviates from the geometric gravity center. When the pressure difference is too large, the gravity center of the robot is too high in offset degree, the robot has uneven centripetal force distribution and unbalanced centrifugal force and centripetal force in the turning process, therefore, the accident of dumping and rollover is very easy to occur, and the normal activity of industrial production is affected. According to the embodiment, the clamping arm is controlled to change the position of the loading platform of the charging bucket on the movable base, so that the gravity center of the feeding robot is changed, the whole gravity center deviation degree of the feeding robot is eliminated or reduced, and the rollover risk of the robot is reduced.
As shown in fig. 8, this step S3 further includes the following.
Step S31, obtaining a corresponding movement control configuration in a vehicle control database according to the weight of the charging bucket, wherein the movement control configuration comprises the vehicle running speed and a corresponding offset adjustment value.
Specifically, the offset adjustment value determines a minimum pressure difference between two arms of the robot to be measured for the position offset of the bucket. Because the centripetal force of the object is related to the mass and the running speed of the object, the offset adjustment value is preset in the vehicle control database according to different weight intervals and the running speed of the feeding robot so as to balance the gravity center of the adjusted feeding robot.
And S32, if the running speed of the vehicle is not greater than the set threshold value, controlling the two clamping arms to drive the charging basket to the initial centering position.
Under the condition that the running speed of the feeding robot is low, centripetal force and centrifugal force borne by an object are small, the rollover probability of the object is low, the position of the charging bucket in the mobile platform is not required to be adjusted, and the charging bucket is placed in the center of the mobile platform so as to improve the material transportation efficiency.
And step S33, if the running speed of the vehicle is greater than the set threshold value, determining the placement position of the charging basket according to the curve state in the current moving path and whether the pressure difference of the two clamping arms is greater than the offset adjustment value corresponding to the running speed of the vehicle.
Under the condition that the running speed exceeds a set threshold value, whether the position of the charging basket on the mobile platform needs to be adjusted is further judged by judging the pressure difference of the two clamping arms of the robot so as to reduce the gravity center offset degree of the whole robot, and when the pressure difference of the two clamping arms measured by the feeding robot is large enough and larger than the offset adjustment value corresponding to the current quality and the current running speed, the feeding robot is unstable in the running state and needs to adjust the position of the charging basket in the suspended state. As shown in fig. 9, the step S33 specifically includes the following.
And step S331, when the pressure difference between the two arms is larger than the offset adjustment value corresponding to the running speed of the vehicle, if the moving path of the vehicle has the moving action of turning towards the arm clamping direction at the side with smaller pressure, the two arms are controlled to push the charging bucket to move towards the arm clamping direction at the side with smaller pressure to the offset position.
When the moving path is provided with a moving action of turning towards the direction of the clamping arm at the side with smaller pressure, the gravity center of the robot is arranged at the outer side of the turning, the centrifugal force is the same as the direction of the everting moment, the everting moment is increased, the robot is easier to turn over, and the gravity center position is required to be adjusted, so that the gravity center position is inwards offset.
In this embodiment, the controlling the two clamp arms to push the bucket to move to the offset position toward the clamp arm with smaller pressure specifically includes: according to the pressure difference between the two arms and the specification of the charging basket, calculating and obtaining a vertical surface where the center of gravity of the charging basket is located, controlling the two clamping arms to push the charging basket to move to an offset position in the direction of the clamping arm on the side with smaller pressure, wherein the offset position is configured to move the charging basket to the direction of the clamping arm on the side with smaller pressure until the vertical surface coincides with the longitudinal axis surface of the movable base, or move the charging basket to the direction of the vertical surface close to the movable base until the nearest charging basket is located.
Specifically, because the shape and the size of the feeding robot and the charging bucket are symmetrical, the whole geometric center of gravity of the feeding robot is positioned in the longitudinal axis surface of the bottom movable base of the feeding robot. Under ideal conditions, after the position of the charging bucket above the mobile platform is adjusted, the vertical plane where the integral gravity center of the feeding robot is located coincides with the longitudinal axis plane of the mobile base, the gravity center position is in the turning center, and the integral stability of the robot is high. However, because the two clamping arms and the moving platform of the feeding robot have size limitation, when the specification of the charging basket is larger, the movable position interval of the charging basket is smaller, and the vertical plane where the whole gravity center of the robot is located cannot be moved to the longitudinal axis of the moving base. Thus, the method further comprises the following.
Step S201, obtaining the horizontal distance value of the two clamping arms and the position of the vertical plane of the gravity center of the charging basket, wherein the vertical plane of the gravity center is configured to be perpendicular to the connecting line direction of the two clamping arms.
Step S202, a first difference between a vertical plane of the center of gravity of the current charging basket and a longitudinal axis plane of the movable base and a second difference between a horizontal distance value of the current two clamp arms and a maximum distance of the two clamp arms are calculated, wherein the longitudinal axis plane of the movable base is configured to be perpendicular to a connecting line direction of the two clamp arms.
Step S203, comparing the first difference with the second difference, if the first difference is larger than the second difference, moving the charging basket until the distance between the vertical surface and the longitudinal axis is minimum, otherwise, moving the charging basket until the vertical surface coincides with the longitudinal axis.
By moving the position of the charging bucket and ensuring that the vertical plane where the gravity center of the charging bucket is located coincides with/is close to the longitudinal axis plane of the moving base, the probability of rollover of the robot in the turning process of running is reduced.
And S332, controlling the two clamping arms to drive the charging basket to an initial centering position when the pressure difference of the two arms is not larger than an offset adjustment value corresponding to the running speed of the vehicle, and enabling the two clamping arms to have the same distance with the corresponding sides of the movable base when the charging basket is at the initial centering position.
After the position of the charging basket is adjusted by the charging robot, the charging basket is placed in the movable base, and the whole adjustment and control process is completed.
In this embodiment, the charging bucket delivery site is configured as a feeding workstation, and the feeding workstation sucks the dust in the charging workstation before the charging robot arrives according to the estimated arrival time information of the charging robot and the dust content in the current workstation, including the following matters.
Step S301, the current position of each feeding robot in carrying operation with the feeding destination being the feeding workstation is obtained, and the current dust content data and dust collection power level in the feeding workstation are collected.
In step S302, if the first feeding robot closest to the feeding workstation predicts that the time required for reaching the feeding workstation is lower than the first time and higher than the second time, and the dust content of the feeding workstation is higher than the first set value, the current dust collection power level of the dust collection device in the feeding workstation is adjusted by one step.
Step S303, when the time required by the first feeding robot to reach the feeding working station is expected to be lower than the second time and the dust content data of the feeding station is still higher than the second set value, the current dust collection power level is further up-regulated by one level, wherein the second set value is lower than the first set value; and after the first feeding robot reaches the feeding position and the dust content in the feeding workstation is lower than the set diffusion value, sending a pouring action instruction to the first feeding robot.
According to the adaptive dust collection power of the automatic selection dust collection device of the current dust content in the workstation, the noise pollution and the energy loss caused by continuous high-power operation of the dust collection device are reduced while the dust content in the workstation is absorbed, the influence of dust dissipation on surrounding environment equipment and the pollution probability among materials are reduced, and the safety of an automatic feeding working system is improved.
According to the intelligent traditional Chinese medicine feeding robot control method disclosed by the invention, a driving path is planned according to the acquired transferring feeding information, and the stacking distribution condition of materials in the charging barrel is judged by collecting the pressure difference of the clamping arms at two sides, so that the placement position of the charging barrel in the movable base is controlled, the overall gravity center of the robot is adjusted under the necessary condition, the stability of the feeding robot in the transmission process is improved, and the situations of rollover and dumping possibly occurring in the turning process of the robot are reduced.
In another embodiment, as shown in fig. 10, a control device of an intelligent traditional Chinese medicine feeding robot is also disclosed, wherein the feeding robot comprises a movable base and a clamping mechanism arranged on the movable base and used for overturning and dumping a material barrel, the clamping mechanism is provided with two clamping arms capable of transversely moving relative to the movable base, and the two clamping arms are respectively arranged on the left side and the right side above the movable base; the feeding equipment control device comprises an information acquisition module 1, a data acquisition module 2 and a position adjustment module 3. The information acquisition module 1 is used for acquiring charging list information to be transferred, wherein the charging list information comprises charging bucket specifications, charging places and charging places, and the charging places are moved to corresponding positions according to the charging places. The data acquisition module 2 is used for controlling the two clamping arms to lift the charging basket after the charging basket receives the position, acquiring the pressure of the charging basket downwards applied to the clamping arms at the two sides, and acquiring the weight of the charging basket and the pressure difference of the two arms. The position adjustment module 3 is configured to plan a movement path according to the loading location and the feeding location, and if the pressure difference between the two arms is greater than a set value and the movement path has a movement action of turning towards the arm clamping direction on the side with smaller pressure, control the two arms to push the charging bucket to move towards the arm clamping direction on the side with smaller pressure to an offset position, control the two arms to place the charging bucket on a bearing platform of the movement base, and control the movement base to carry the charging bucket to the feeding location according to the movement path.
In this embodiment, the position adjustment module 3 further includes a configuration acquisition module, a first adjustment module, and a second adjustment module. The configuration acquisition module is used for acquiring a corresponding movement control configuration in the vehicle control database according to the weight of the charging bucket, wherein the movement control configuration comprises the vehicle running speed and a corresponding offset adjustment value. And the first adjusting module is used for controlling the two clamping arms to drive the charging basket to an initial centering position if the running speed of the vehicle is not greater than a set threshold value. And the second adjusting module is used for determining the placement position of the charging basket according to the curve state in the current moving path and whether the pressure difference of the two arms is larger than an offset adjusting value corresponding to the current vehicle running speed if the current vehicle running speed is larger than a set threshold value.
In this embodiment, the position adjustment module 3 further includes a first movement module and a second movement module. And the first moving module is used for controlling the two clamping arms to push the charging bucket to move to the offset position in the direction of the clamping arm at the side with smaller pressure if the moving action of turning is carried out in the direction of the clamping arm at the side with smaller pressure on the moving path when the pressure difference between the two arms is larger than the offset adjustment value corresponding to the running speed of the vehicle. The second moving module is used for controlling the two clamping arms to drive the charging basket to an initial centering position when the pressure difference of the two arms is not larger than an offset adjustment value corresponding to the running speed of the vehicle, and the distance between the two clamping arms and the corresponding sides of the moving base is the same when the charging basket is at the initial centering position.
In this embodiment, the data acquisition module 2 further includes a conveying module and a lifting module. The conveying module is used for controlling each rotating roller on the bearing platform to rotate to convey the charging bucket into the clamping mechanism after the two clamping arm inner clamps are lowered to the corresponding heights according to the specifications of the charging bucket after the charging bucket is moved to the charging place; the lifting module is used for keeping the rotating roller to continue to rotate, and controlling the two clamping arms to drive the charging basket to an initial fixed position and then controlling the rotating roller to stop.
It should be noted that, in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, and similar portions of each embodiment are referred to each other. For the intelligent traditional Chinese medicine feeding robot control device disclosed in the embodiment, the intelligent traditional Chinese medicine feeding robot control method disclosed in the embodiment corresponds to the intelligent traditional Chinese medicine feeding robot control method disclosed in the embodiment, so that the description is simpler, and relevant parts are only needed by referring to the description of the method section.
The intelligent traditional Chinese medicine feeding robot control device can be stored in a computer readable storage medium if being realized in the form of a software functional unit and sold or used as an independent product. Based on such understanding, the present invention may implement all or part of the procedures in the above-described embodiments of the method, or may be implemented by instructing the relevant hardware by a computer program, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of the above-described embodiments of the method for controlling a smart feeding robot for traditional Chinese medicine when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier wave signal, a telecommunication signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
In summary, the foregoing description is only of the preferred embodiments of the present invention, and all equivalent changes and modifications made in accordance with the claims should be construed to fall within the scope of the invention.
Claims (10)
1. The intelligent traditional Chinese medicine feeding robot control method is characterized in that the feeding robot comprises a movable base and a clamping mechanism which is arranged on the movable base and used for overturning and dumping a material barrel, wherein the clamping mechanism is provided with two clamping arms which can transversely move relative to the movable base, and the two clamping arms are respectively arranged on the left side and the right side above the movable base; the intelligent traditional Chinese medicine feeding robot control method comprises the following steps:
S1, acquiring charging list information to be transferred, wherein the charging list information comprises a charging bucket specification, a charging place and a charging place, and the charging list information is moved to a corresponding position according to the charging place;
S2, controlling the two clamping arms to lift the charging bucket after the charging bucket receives the position, collecting the pressure of the charging bucket downwards applied to the clamping arms at the two sides, and obtaining the weight of the charging bucket and the pressure difference of the two arms;
S3, planning a moving path according to the charging place and the discharging place, and controlling the two clamping arms to push the charging barrel to move to the offset position in the direction of the clamping arm at the side with smaller pressure if the pressure difference between the two arms is larger than a set value and the moving path is provided with a moving action of turning in the direction of the clamping arm at the side with smaller pressure, and controlling the moving base to carry the charging barrel to the discharging place according to the moving path after controlling the two clamping arms to place the charging barrel on the bearing platform of the moving base.
2. The method for controlling an intelligent traditional Chinese medicine feeding robot according to claim 1, wherein the step S3 further comprises:
Obtaining a corresponding movement control configuration in a vehicle control database according to the weight of the charging bucket, wherein the movement control configuration comprises the running speed of the vehicle and a corresponding offset adjustment value;
if the running speed of the vehicle is not greater than the set threshold value, controlling the two clamping arms to drive the charging basket to an initial centering position;
if the running speed of the vehicle is greater than the set threshold, determining the placement position of the charging basket according to the curve state in the current moving path and whether the pressure difference of the two arms is greater than the offset adjustment value corresponding to the running speed of the vehicle.
3. The method for controlling an intelligent traditional Chinese medicine feeding robot according to claim 2, wherein the step S3 further comprises:
when the pressure difference between the two arms is larger than an offset adjustment value corresponding to the running speed of the vehicle, if the moving path of the vehicle has a moving action of turning towards the clamping arm direction at the side with smaller pressure, the two clamping arms are controlled to push the charging bucket to move towards the clamping arm direction at the side with smaller pressure to an offset position;
When the pressure difference of the two arms is not larger than the offset adjustment value corresponding to the running speed of the vehicle, the two clamping arms are controlled to drive the charging basket to the initial centering position, and when the charging basket is at the initial centering position, the distance between the two clamping arms and the corresponding side of the movable base is the same.
4. The method for controlling an intelligent traditional Chinese medicine feeding robot according to claim 3, wherein the step S2 further comprises:
After moving to the charging place, the clamps in the two clamping arms are lowered to the corresponding heights according to the specification of the charging bucket, and each rotating roller on the bearing platform is controlled to rotate so as to convey the charging bucket into the clamping mechanism;
The storage rotating roller continues to rotate, and the two clamping arms are controlled to drive the charging basket to an initial fixed position and then control the rotating roller to stop.
5. The method for controlling an intelligent traditional Chinese medicine feeding robot according to claim 4, wherein the method for controlling the two clamping arms to push the charging basket to move to the offset position in the direction of the clamping arm at the side with smaller pressure comprises the following steps:
According to the pressure difference between the two arms and the specification of the charging basket, calculating and obtaining a vertical surface where the center of gravity of the charging basket is located, controlling the two clamping arms to push the charging basket to move to an offset position in the direction of the clamping arm on the side with smaller pressure, wherein the offset position is configured to move the charging basket to the direction of the clamping arm on the side with smaller pressure until the vertical surface coincides with the longitudinal axis surface of the movable base, or move the charging basket to the direction of the vertical surface close to the movable base until the nearest charging basket is located.
6. The intelligent traditional Chinese medicine feeding robot control device is characterized in that the feeding robot comprises a movable base and a clamping mechanism which is arranged on the movable base and used for overturning and dumping a material barrel, wherein the clamping mechanism is provided with two clamping arms which can transversely move relative to the movable base, and the two clamping arms are respectively arranged on the left side and the right side above the movable base; the intelligent traditional Chinese medicine feeding robot control device comprises:
The information acquisition module is used for acquiring charging list information to be transferred, wherein the charging list information comprises charging bucket specifications, charging places and charging places, and the charging places are moved to corresponding positions according to the charging places;
The data acquisition module is used for controlling the two clamping arms to lift the charging basket after the charging basket receives the charging basket, acquiring the pressure of the charging basket downwards applied to the clamping arms at the two sides, and acquiring the weight of the charging basket and the pressure difference of the two arms;
and the position adjustment module is used for planning a moving path according to the charging place and the discharging place, and controlling the two clamping arms to push the charging barrel to move to the offset position in the direction of the clamping arm at the side with smaller pressure after controlling the two clamping arms to place the charging barrel on a bearing platform of the moving base and controlling the moving base to carry the charging barrel to the discharging place according to the moving path if the pressure difference of the two arms is larger than a set value and the moving path is provided with a moving action of turning towards the clamping arm at the side with smaller pressure.
7. The intelligent traditional Chinese medicine feeding robot control device according to claim 6, wherein the position adjustment module further comprises:
The configuration acquisition module is used for acquiring a corresponding movement control configuration in the vehicle control database according to the weight of the charging bucket, wherein the movement control configuration comprises the vehicle running speed and a corresponding offset adjustment value;
The first adjusting module is used for controlling the two clamping arms to drive the charging basket to an initial centering position if the running speed of the vehicle is not greater than a set threshold value;
and the second adjusting module is used for determining the placement position of the charging basket according to the curve state in the current moving path and whether the pressure difference of the two arms is larger than an offset adjusting value corresponding to the current vehicle running speed if the current vehicle running speed is larger than a set threshold value.
8. The intelligent traditional Chinese medicine feeding robot control device according to claim 7, wherein the position adjustment module further comprises:
The first moving module is used for controlling the two clamping arms to push the charging bucket to move to the offset position in the direction of the clamping arm at the side with smaller pressure if the moving action of turning is carried out in the direction of the clamping arm at the side with smaller pressure on the moving path when the pressure difference between the two arms is larger than the offset adjustment value corresponding to the running speed of the vehicle;
and the second moving module is used for controlling the two clamping arms to drive the charging basket to an initial centering position when the pressure difference of the two arms is not larger than an offset adjustment value corresponding to the running speed of the vehicle, and the distance between the two clamping arms and the corresponding sides of the moving base is the same when the charging basket is at the initial centering position.
9. The intelligent traditional Chinese medicine feeding robot control device according to claim 8, wherein the data acquisition module further comprises:
The conveying module is used for controlling each rotating roller on the bearing platform to rotate to convey the charging bucket into the clamping mechanism after the two clamping arm inner clamps are lowered to the corresponding heights according to the specifications of the charging bucket after the charging bucket is moved to the charging place;
and the lifting module is used for keeping the rotating roller to continue to rotate, controlling the two clamping arms to drive the charging basket to an initial fixed position and then controlling the rotating roller to stop.
10. A computer-readable storage medium storing a computer program, characterized in that: the computer program implementing the steps of the method according to any of claims 1-5 when executed by a processor.
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| CN207844511U (en) * | 2017-12-29 | 2018-09-11 | 四川杨国福食品有限公司 | The adjustable material-tilting machine of bore is clamped |
| CN110775655A (en) * | 2019-12-04 | 2020-02-11 | 山东大学 | Automatic traditional Chinese medicine raw material feeding robot and working method |
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| FR991108A (en) * | 1949-06-22 | 1951-10-01 | Toy, and in particular a miniature motor vehicle turning around while walking | |
| JP2007191173A (en) * | 2006-01-18 | 2007-08-02 | Mitsubishi Heavy Ind Ltd | Container gravity central position detecting device, container gravity central position detecting method, and container gravity central position notification system |
| WO2019143666A1 (en) * | 2018-01-16 | 2019-07-25 | Clark Carl M | Vehicle rollover safety device utilizing a circular arc level |
| CN209635059U (en) * | 2018-11-30 | 2019-11-15 | 东莞市永强汽车制造有限公司 | After a kind of rollover can quickly discharging material tank body and tank truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN207844511U (en) * | 2017-12-29 | 2018-09-11 | 四川杨国福食品有限公司 | The adjustable material-tilting machine of bore is clamped |
| CN110775655A (en) * | 2019-12-04 | 2020-02-11 | 山东大学 | Automatic traditional Chinese medicine raw material feeding robot and working method |
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