CN107986165B - Stacking robot carrying line planning device and planning method - Google Patents
Stacking robot carrying line planning device and planning method Download PDFInfo
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- CN107986165B CN107986165B CN201711418875.3A CN201711418875A CN107986165B CN 107986165 B CN107986165 B CN 107986165B CN 201711418875 A CN201711418875 A CN 201711418875A CN 107986165 B CN107986165 B CN 107986165B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 87
- 230000007246 mechanism Effects 0.000 claims description 22
- 238000007789 sealing Methods 0.000 claims description 20
- 230000001133 acceleration Effects 0.000 claims description 14
- 238000011010 flushing procedure Methods 0.000 claims description 13
- 238000001035 drying Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 11
- 239000005341 toughened glass Substances 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 6
- 238000010438 heat treatment Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 9
- 239000000463 material Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 238000004056 waste incineration Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a stacking robot carrying line planning device and a stacking robot carrying line planning method, wherein the stacking robot carrying line planning device comprises a scene detection and line planning module, a functional head positioning module and a non-contact altimeter; the functional head positioning module and the non-contact altimeter are connected with the scene detection and route planning module; the non-contact altimeter is arranged on the side surface of the functional head of the stacking robot; the scene detection and route planning module is used for calculating the stacking height of each block in the running area of the stacking robot according to the detection data of the non-contact altimeter and the functional head positioning module, and planning the moving route of the functional head according to the stacking height, the position of the functional head and the target position. The beneficial effects of the invention are as follows: through non-contact altimeter and functional head positioning module, scene detection and route planning module can monitor the change of the stack height of each block in the operation region of stacking robot in real time.
Description
Technical Field
The invention belongs to the field of environmental protection equipment, and particularly relates to a stacking robot carrying line planning device and a stacking robot carrying line planning method.
Background
In the prior art, large waste incineration power plants are often provided with waste ponds in order to temporarily store waste; the garbage in the garbage pool is required to be grabbed and carried by a stacking robot; the existing stacking robot needs personnel to perform visual operation, however, the surrounding air of the garbage pool is dirty, and the severe working environment can threaten the health of crane operators, so that an automatic control system of the stacking robot is necessary to be introduced. However, the crane automatic control system in the prior art has the following problems: 1. the existing automatic control system of the crane is mostly used for loading and unloading cargoes such as containers and the like with fixed shapes, while garbage is bulk materials, and the existing automatic control system cannot accurately position the cargoes without the fixed shapes; 2. for cargoes with fixed shapes, the control system can count the stacking height of each area in the cargo yard by recording stacking positions and stacking layers so as to plan the running line of the crane; however, the garbage is bulk, and the stacking height of each area in the garbage pool cannot be accurately obtained through stacking, so that the automatic control system cannot accurately grasp the garbage in the garbage pool. In summary, the stacking height detection technology and the carrying route planning method are the first technical problems of the automatic control system of the garbage pool crane.
Disclosure of Invention
According to the defects of the prior art, the invention provides a stacking robot carrying route planning device and a planning method, wherein the planning device adopts a non-contact sensor, can accurately detect the stacking height of garbage in each area in a garbage pond, and can carry out planning of a carrying route according to the stacking height of each area.
The invention is realized by the following technical scheme:
the stacking robot carrying route planning device comprises a scene detection and route planning module, a functional head positioning module and a non-contact altimeter; the functional head positioning module and the non-contact altimeter are connected with the scene detection and route planning module; the non-contact altimeter is arranged on the side surface of the functional head of the stacking robot; the functional head positioning module is used for detecting position coordinates of the functional head, the scene detection and route planning module is used for calculating stacking heights of all blocks in an operation area of the stacking robot according to the non-contact altimeter and detection data of the functional head positioning module, and planning a moving route of the functional head according to the stacking heights, the position coordinates of the functional head and a target position.
The stacking robot comprises a functional head driving mechanism for driving the functional head to move; the functional head driving mechanism comprises a beam type cart, a trolley and a winch; two ends of the beam type cart are respectively erected on two parallel tracks; the trolley runs on the beam-type cart, and the winch is fixedly arranged on the trolley; the functional head is suspended below the trolley through the winch.
The functional head positioning module comprises a beam type cart positioning module, a trolley positioning module and a winding engine circle number coding wheel.
The scene detection and route planning module is connected with the control system of the stacking robot. The scene detection and route planning module is an industrial personal computer, a singlechip, a PLC or a general purpose computer.
The non-contact altimeter comprises a containment vessel, a laser altimeter module and an acceleration sensor, wherein the laser altimeter module is arranged inside the containment vessel; the safety shell is fixedly arranged on the side face of the functional head, a detection window body is arranged at the bottom of the safety shell, and toughened glass is inlaid in the detection window body; the laser height measurement module is suspended in the containment through a universal joint; a sealing baffle which can be opened and closed is arranged below the detection window body, and one side of the sealing baffle is connected with a baffle driving mechanism; the baffle driving mechanism is connected with the laser height measurement module and the acceleration sensor; when the relative height detected by the laser height measurement module is smaller than an alarm threshold value, the baffle driving mechanism drives the sealing baffle to be closed so as to shade the detection window; the barrier driving mechanism drives the sealing barrier to open when the acceleration sensor detects an acceleration in a vertical direction whose duration exceeds a first time limit.
A high-pressure flushing nozzle and a gas drying nozzle are arranged below the detection window body; the high-pressure flushing nozzle is connected with a high-pressure water source, and the gas drying nozzle is connected with a gas cylinder through a gas heating device; when the sealing baffle is in an opening state, the high-pressure flushing nozzle flushes the detection window body every preset time, and the gas drying nozzle dries the detection window body after flushing.
The trolley is provided with a non-contact altimeter; the non-contact altimeter is connected with the scene detection and route planning module.
The planning method of the stacking robot carrying line planning device specifically comprises the following steps: in the running process of the stacking robot, a scene detection and route planning module calculates the stacking height of each block in the running area of the stacking robot according to detection data of a non-contact altimeter and a functional head positioning module; the scene detection and route planning module plans the moving route of the functional head according to the stacking height, the position coordinates of the functional head and the target position.
The calculating of the stacking height of each block in the operation area of the stacking robot specifically comprises the following steps: dividing the operation area of the stacking robot into a two-dimensional array formed by a plurality of blocks along the horizontal direction, wherein the stacking height of each block is stored in the scene detection and route planning module; the non-contact altimeter continuously measures the relative height from the stacking surface of the block below the non-contact altimeter to the non-contact altimeter, and the functional head positioning module detects the position coordinates of the functional head at intervals of preset time; and the scene detection and route planning module calculates the stacking height of the block below the non-contact altimeter according to the relative height measured by the non-contact altimeter and the position coordinate detected by the functional head positioning module, and updates the stacking height data stored in the scene detection and route planning module.
The position coordinates detected by the functional head positioning module comprise the vertical height hz of the functional head; when the non-contact altimeter is mounted on the side of the functional head, the scene detection and route planning module calculates the stacking height of the blocks as follows:
Hs = hz – hr
wherein: hs is the stacking height of the block located in the non-contact altimeter, and hr is the relative height from the non-contact altimeter to the stacking surface.
The invention has the advantages that: the scene detection and route planning module can monitor the change of the stacking height of each block in the operation area of the stacking robot in real time through the non-contact altimeter and the functional head positioning module; the stacking height detection technology has the advantages of high precision, high reliability and the like; by the detection technology, automatic control of the stacking robot can be realized.
Drawings
FIG. 1 is a block diagram of a palletizing robot handling line planning apparatus according to the present invention;
FIG. 2 is a side view of the palletizing robot of the present invention;
FIG. 3 is a top view of the run area of the palletizing robot in the present invention;
FIG. 4 is a cross-sectional view of the non-contact altimeter of the present invention with the sealing barrier in a closed state;
fig. 5 is a cross-sectional view of the non-contact altimeter of the present invention when the sealing barrier is in an open state.
Detailed Description
The features of the present invention and other related features are described in further detail below by way of example in conjunction with the following drawings, to facilitate understanding by those skilled in the art:
as shown in fig. 1-5, reference numerals 1-24 are respectively: the stacking robot 1, the functional head driving mechanism 2, the functional head 3, the beam type cart 4, the trolley 5, the winch 6, the track 7, the operation area 8, the functional head positioning module 9, the non-contact altimeter 10a, the non-contact altimeter 10b, the scene detection and route planning module 11, the block 12, the containment 13, the laser altimeter module 14, the acceleration sensor 15, the detection window 16, the universal joint 17, the sealing baffle 18, the baffle driving mechanism 19, the high-pressure flushing nozzle 20, the gas drying nozzle 21, the high-pressure water source 22, the gas heating device 23 and the gas cylinder 24.
Examples: as shown in fig. 1 to 3, the present embodiment relates to a palletizing robot carrying route planning apparatus, the palletizing robot 1 includes a functional head driving mechanism 2 and a functional head 3; in the embodiment, the functional head 3 is a grab bucket, and the functional head driving mechanism 2 is a crane; the functional head driving mechanism 2 comprises a beam type cart 4, a trolley 5 and a winch 6; the two ends of the girder type cart 4 are respectively erected on two parallel tracks 7, and the two ends of the girder type cart 4 are provided with power devices so that the girder type cart 4 can move along the tracks 7; the trolley 5 runs on a cross beam of the beam type trolley 4, and the winch 6 is fixedly arranged on the trolley 5; the functional head 3 is suspended below the trolley 5 by a hoist 6.
As shown in fig. 1 to 3, the operation area 8 of the stacking robot in this embodiment is a garbage pool; the stacking robot carrying route planning device of the present embodiment is configured to detect the stacking height of bulk materials in each block 12 in the operation area 8 of the stacking robot 1, and plan the moving route of the functional head 3 according to the stacking height of each block 12, the position of the functional head 3, and the target position of the functional head 3, so as to implement automatic control of the stacking robot 1.
As shown in fig. 1 to 3, the stacking robot carrying route planning device in the present embodiment includes a functional head positioning module 9, a non-contact altimeter 10a, and a scene detection and route planning module 11; the functional head positioning module 9 and the non-contact altimeter 10a are connected with the scene detection and route planning module 11; a non-contact altimeter 10a is mounted on the side of the functional head 3 of the palletizing robot 1 for detecting the relative distance between the functional head 3 and the palletizing upper surface.
As shown in fig. 1 to 3, the functional head positioning module 9 is used for detecting real-time position coordinates of the functional head 3, and the functional head positioning module 9 includes a beam type cart positioning module, a trolley positioning module and a hoist turn number encoding wheel. The beam type cart positioning module is used for measuring the X-axis coordinate of the functional head 3, the cart positioning module is used for measuring the Y-axis coordinate of the functional head 3, and the winch circle number coding wheel is used for measuring the Z-axis coordinate of the functional head 3.
As shown in fig. 1 to 3, a two-dimensional table is provided in the scene detection and route planning module 11, which is used to store the stacking height of the individual blocks 12 in the operating region 8 of the stacking robot 1; the scene detection and route planning module 11 can calculate the stacking height of the block 12 positioned under the functional head 3 according to the relative height detected by the non-contact altimeter 10a and the detected position coordinates of the functional head 3 of the functional head positioning module 9; the scene detection and route planning module 11 can update the data in the two-dimensional table inside the scene detection and route planning module by using the calculated stacking height; the functional head 3 moves in the operation area 8 of the stacking robot 1, and the scene detection and route planning module 11 calculates the stacking height below the non-contact altimeter 10a at intervals of preset time; since the stacking height is mainly changed by the functional head 3; by continuously measuring the stack height of the block 12 below the non-contact altimeter 10a, the scene detection and route planning module 11 can keep the stack height data stored therein consistent with the real situation.
As shown in fig. 1 to 3, the scene detection and route planning module 11 in the present embodiment is connected to the control system of the palletizing robot 1; the palletizing robot 1 may move the functional head 3 to the target position according to the planned route of the scene detection and route planning module 11.
As shown in fig. 1 to 3, the scene detection and route planning module 11 is an industrial personal computer, a PLC or a general purpose computer.
As shown in fig. 2, 4, 5, the non-contact altimeter 10a includes a safety case 13, a laser altimeter module 14 provided inside the safety case 13, and an acceleration sensor 15; the safety shell 13 is fixedly arranged on the side surface of the functional head 3, and the safety shell 13 is a closed container made of high-strength stainless steel and is used for protecting the laser altimeter module 14 and the acceleration sensor 15 inside; in order to facilitate the light beam emitted by the laser height measurement module 14 to penetrate, the bottom of the containment 13 is provided with a detection window 16, and toughened glass is inlaid in the detection window 16; the laser height measurement module 14 is suspended in the safety shell 13 through the universal joint 17, and the universal joint 17 can ensure that the laser height measurement module 14 can keep a vertical downward posture in the measurement process; a sealing baffle 18 which can be opened and closed is arranged below the detection window 16, one side of the sealing baffle 18 is connected with a baffle driving mechanism 19, and the baffle driving mechanism 19 is a hydraulic cylinder in the embodiment.
As shown in fig. 2, 4 and 5, the baffle driving mechanism 19 is connected with the laser altimeter module 14 and the acceleration sensor 15; when the relative height detected by the laser height measurement module 14 is smaller than the warning threshold value, the functional head 3 is indicated to grasp objects from the stack or hold the objects on the stack, and in order to avoid collision between the toughened glass in the detection window 16 and the objects on the stack, the baffle driving mechanism 19 drives the sealing baffle 18 to be closed when the relative height is smaller than the warning threshold value; the closed state of the sealing barrier 18 is shown in fig. 4; when the acceleration sensor 15 detects an acceleration in the vertical direction with a duration exceeding the first time limit, which indicates that the functional head 3 is lifted up by a certain distance, the non-contact altimeter 10a has no risk of collision, and at this time, the barrier driving mechanism 19 drives the sealing barrier 18 to open, and the state after the sealing barrier 18 is opened is shown in fig. 5.
As shown in fig. 2, 4 and 5, a high-pressure flushing nozzle 20 and a gas drying nozzle 21 are arranged below the detection window 16; the high-pressure flushing nozzle 20 is connected with a high-pressure water source 22 through a pipeline; the gas drying nozzle 21 is connected with a gas cylinder 24 through a gas heating device 23; when the sealing baffle is in an opened state, the high-pressure flushing nozzle 20 flushes the toughened glass of the detection window 16 every preset time, and the gas drying nozzle 21 after flushing sprays high-temperature high-pressure gas to the toughened glass so as to dry the toughened glass of the detection window 16; the dirt stained on the surface of the toughened glass can be timely cleaned through washing and drying, so that the toughened glass can keep good transparency.
As shown in fig. 1, the trolley 5 is mounted with a non-contact altimeter 10b, and the non-contact altimeter 10b is used for detecting the stacking height below the non-contact altimeter 10 b; the non-contact altimeter 10b is also connected to the scene detection and route planning module 11.
As shown in fig. 1 to 3, the present embodiment relates to a stacking robot handling route planning method, which is characterized in that the stacking robot handling route planning method includes the following steps:
1) During the operation of the palletizing robot 1, the scene detection and route planning module 11 calculates the palletizing height of each block 12 of the operation area 8 of the palletizing robot 1 according to the detection data of the non-contact altimeter 10a or the non-contact altimeter 10b and the functional head positioning module 9; the process for detecting the stacking height of each block 12 specifically includes the following steps:
1.1 As shown in fig. 3, the operating area 8 of the palletizing robot 1 is divided into a plurality of blocks 12 in the horizontal direction; each block 12 is arranged in a two-dimensional array; in this embodiment, each block 12 is circular, and the edges of adjacent blocks 12 overlap each other.
1.2 As shown in fig. 1 to 3, a two-dimensional table is provided in the scene detection and route planning module 11, and cells in the table are in one-to-one correspondence with the blocks 12 in the operation area 8 and are used for storing the stacking heights of the corresponding blocks 12; when the stacker robot 1 is put into operation, no bulk material is present in the operating area 8 of the stacker robot 1, and therefore, when the stacker robot 1 is first used, it is necessary to clear the two-dimensional table in the scene detection and route planning module 11.
1.3 As shown in fig. 1 to 3, the non-contact altimeter 10a continuously measures the relative height of the stacking surface of the block 12 under the non-contact altimeter 10a to the non-contact altimeter 10 a; the scene detection and route planning module 11 calculates the stacking height of the block 12 positioned below the non-contact altimeter 10a according to the relative height measured by the non-contact altimeter 10a and the position coordinates of the detected functional head 3 of the functional head positioning module 9, and updates the stacking height data stored in the two-dimensional table in the scene detection and route planning module 11; since the stacking height in the operation area 8 of the stacking robot 1 is mainly affected by the functional head 3, the change in the stacking height in the operation area 8 can be detected in real time by measuring the stacking height of the block 12 under the non-contact altimeter 10a at predetermined intervals.
As shown in fig. 1 and 2, the functional head positioning module 9 is used for measuring the position coordinates of the functional head 3, and the position coordinates of the functional head 3 include the vertical height of the functional head 3; when the non-contact altimeter 10a is mounted on the side of the functional head 3, the vertical height of the functional head 3 may be approximately equal to the vertical height of the non-contact altimeter 10a, and the stacking height calculation formula of the block 12 below the non-contact altimeter 10a is as follows:
Hs = hz – hr
wherein: hs is the stacking height of the block 12 below the non-contact altimeter 10a, hz is the vertical height of the functional head 3, hr is the relative height from the functional head 3 to the stacking surface, hc is the bottom surface height of the operation area 8 of the stacking robot 1, and in this embodiment the bottom surface of the operation area 8 is the bottom surface height of the garbage pool.
As shown in fig. 1 and 2, the scene detection and route planning module 11 may also update the stacking height data stored in the two-dimensional table in the scene detection and route planning module 11 by measuring the stacking height of the block 12 below the non-contact altimeter 10b by the non-contact altimeter 10 b. The non-contact altimeter 10a and the non-contact altimeter 10b are backed up each other.
2) The scene detection and route planning module 11 plans a moving route of the functional head 3 according to the stacking height of each block 12, the position of the functional head 3 and the target position; in the process of planning a moving route, the scene detection and route planning module 11 can judge the position of the obstacle according to the stacking height of each block 12 so that the functional head 3 avoids the block 12 with the excessively high stacking height; the scene detection and route planning module 11 can send an operation instruction to the stacking robot according to the planned route; the scene detection and route planning module 11 can send instructions to the beam type cart 4, the trolley 5 and the winch 6 of the stacking robot 1 at the same time; and during manual operation, an operator can operate any two of the three at most; planning of the movement route follows the following principle:
2.1 The movement of the girder type cart 4 on the rail 7 is called X-axis movement, and the position of the girder type cart 4 is defined as X-coordinate; the movement of the trolley 5 on the girder type cart 4 is called Y-axis movement, and the position of the trolley 5 on the girder type cart 4 is defined as Y-coordinate; the trolley 5 is on the girder type cart 4, so the X coordinate of the girder type cart 4 is also the X coordinate of the trolley 5; the movement of the functional head 3 in the vertical direction is referred to as Z-axis movement, and the height position of the functional head 3 is defined as Z-coordinate. Since the functional head 3 is suspended below the trolley, the X, Y coordinates of the trolley 5 are also X, Y coordinates of the functional head 3.
2.2 The carrying route of the functional head 3 of the stacking robot 1 can be divided into a linear carrying route and a block carrying route; the former is used to stack material handling at a given pick point to a given stacker point and the latter is used to handle material from multiple blocks 12 to a point-like location or block-like area in multiple trips.
3.3 When the block carrying route is used, the functional head 3 is carried out point by point in the block area for a plurality of times, and after one point is carried away or stacked, the adjacent point is continuously carried away or stacked. Typically, one of the X, Y coordinates (e.g., X) of adjacent points remains unchanged, and only the other (e.g., Y) is changed. This conveyance method is called scanning conveyance; for the block-shaped area, the carrying equipment can arrange a scanning route by itself until the carrying work is gradually completed.
3.4 The stacked materials are highly piled up to form barriers in the piling site. In the automatic stacking operation, the stacking robot 1 must be ensured not to collide with the functional head 3 when the functional head passes through the high stack of materials.
3.5 When using a linear transportation route, the following algorithm is followed: firstly, each dimension of movement only moves to a target coordinate when 3 dimensions move, so that the movement of the shortest path is achieved; secondly, the movement of a plurality of dimensions is performed as simultaneously as possible, so that the movement time of each dimension is overlapped as much as possible, and the movement time is shortened, but the movement while ascending in the X direction and the Z direction is avoided; thirdly, the Z movement keeps the high-order principle, namely when the target is higher, the functional head is moved to the target height, when the target is lower, the functional head keeps the original height, and when the functional head approaches the target, the functional head is lifted to the target height.
3.6 A traveling work area of the functional head 3 of the stacking robot 1 may have an obstacle, for which purpose the traveling crane has an obstacle collision avoidance function; in the process of planning the running route of the functional head 3, three-dimensional coordinates of the obstacle are obtained according to the stacking height of each block 12 and the fixed obstacle information in the running area, and the outline coordinates of the obstacle facing the functional head, namely the minimum or maximum coordinates of the obstacle X, Y and the maximum coordinates of Z are obtained. The functional head 3 is required to be higher than the obstacle and to be kept at a safe distance from the obstacle when moving across the obstacle region.
3.7 Performing obstacle dynamic contour calculations: in the area collision avoidance mode, when the transport route calculated according to the 3.5) cannot pass, the dimension approaching the outline coordinate of the obstacle stops moving, the movement of other dimensions is continued, and then the 3-dimensional outline coordinate of the obstacle is recalculated. When calculating the contour coordinates, the obstacle after the coordinates that have been passed does not enter the calculation of the contour coordinates. When the movement of the dimension has been moved away from the approaching obstacle due to movement of the other dimension, movement of the dimension direction is resumed.
3.8 When the block conveying route is used, the conveying is carried out point by point in the block area, and after one point is removed or stacked, the adjacent points are continuously removed or stacked. Typically, one of the X, Y coordinates (e.g., X) of adjacent points remains unchanged, and only the other (e.g., Y) is changed. This conveyance method is called scanning conveyance.
The beneficial effects of this embodiment are: the scene detection and route planning module can monitor the change of the stacking height of each block in the operation area of the stacking robot in real time through the non-contact altimeter and the functional head positioning module; the stacking height detection technology has the advantages of high precision, high reliability and the like; by the detection technology, automatic control of the stacking robot can be realized.
Claims (5)
1. A planning method of a stacking robot carrying route planning device is characterized in that the stacking robot carrying route planning device comprises a scene detection and route planning module, a functional head positioning module and a non-contact altimeter; the functional head positioning module and the non-contact altimeter are connected with the scene detection and route planning module; the non-contact altimeter is arranged on the side surface of the functional head of the stacking robot; the functional head positioning module is used for detecting position coordinates of the functional head, the scene detection and route planning module is used for calculating stacking heights of all blocks in an operation area of the stacking robot according to the non-contact altimeter and detection data of the functional head positioning module, and planning a moving route of the functional head according to the stacking heights, the position coordinates of the functional head and a target position;
the non-contact altimeter comprises a containment vessel, a laser altimeter module and an acceleration sensor, wherein the laser altimeter module is arranged inside the containment vessel; the safety shell is fixedly arranged on the side face of the functional head, a detection window body is arranged at the bottom of the safety shell, and toughened glass is inlaid in the detection window body; the laser height measurement module is suspended in the containment through a universal joint; a sealing baffle which can be opened and closed is arranged below the detection window body, and one side of the sealing baffle is connected with a baffle driving mechanism; the baffle driving mechanism is connected with the laser height measurement module and the acceleration sensor; when the relative height detected by the laser height measurement module is smaller than an alarm threshold value, the baffle driving mechanism drives the sealing baffle to be closed so as to shade the detection window; when the acceleration sensor detects an upward vertical acceleration with a duration exceeding a first time limit, the baffle driving mechanism drives the sealing baffle to open; a high-pressure flushing nozzle and a gas drying nozzle are arranged below the detection window body; the high-pressure flushing nozzle is connected with a high-pressure water source, and the gas drying nozzle is connected with a gas cylinder through a gas heating device; when the sealing baffle is in an open state, the high-pressure flushing nozzle flushes the detection window body every preset time, and the gas drying nozzle dries the detection window body after flushing;
the planning method of the stacking robot carrying line planning device specifically comprises the following steps: in the running process of the stacking robot, a scene detection and route planning module calculates the stacking height of each block in the running area of the stacking robot according to detection data of a non-contact altimeter and a functional head positioning module; the scene detection and route planning module plans a moving route of the functional head according to the stacking height, the position coordinates of the functional head and the target position;
the calculating of the stacking height of each block in the operation area of the stacking robot specifically comprises the following steps: dividing the operation area of the stacking robot into a two-dimensional array formed by a plurality of blocks along the horizontal direction, wherein the stacking height of each block is stored in the scene detection and route planning module; the non-contact altimeter continuously measures the relative height from the stacking surface of the block below the non-contact altimeter to the non-contact altimeter, and the functional head positioning module detects the position coordinates of the functional head at intervals of preset time; the scene detection and route planning module calculates the stacking height of the block below the non-contact altimeter according to the relative height measured by the non-contact altimeter and the position coordinate detected by the functional head positioning module, and updates the stacking height data stored in the scene detection and route planning module;
the position coordinates detected by the functional head positioning module comprise the vertical height hz of the functional head; when the non-contact altimeter is mounted on the side of the functional head, the scene detection and route planning module calculates the stacking height of the blocks as follows:
Hs = hz – hr
wherein: hs is the stacking height of the block below the non-contact altimeter, and hr is the relative height of the non-contact altimeter to the stacking surface.
2. A method of planning a palletizing robot handling line planning apparatus according to claim 1, characterized in that the palletizing robot includes a functional head driving mechanism for driving the functional head to move; the functional head driving mechanism comprises a beam type cart, a trolley and a winch; two ends of the beam type cart are respectively erected on two parallel tracks; the trolley runs on the beam-type cart, and the winch is fixedly arranged on the trolley; the functional head is suspended below the trolley through the winch.
3. The planning method of the stacking robot carrying line planning device according to claim 2, wherein the functional head positioning module comprises a beam type cart positioning module, a cart positioning module and a winch circle number coding wheel.
4. The method for planning a handling route planning device of a palletizing robot according to claim 2, wherein the scene detection and route planning module is connected with a control system of the palletizing robot; the scene detection and route planning module is an industrial personal computer, a PLC or a general purpose computer.
5. The planning method of the stacking robot carrying route planning device according to claim 2, wherein the trolley is provided with a non-contact altimeter; the non-contact altimeter is connected with the scene detection and route planning module.
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