An intelligent anti-condensation and dehumidification integrated robot system and its control method

Abstract

The present invention discloses an intelligent anti-condensation and dehumidification integrated robot system and its control method, which includes an AGV transport vehicle, a motor, a conductive bracket, a guide rail, a bracket, a heat radiation cover, a heat radiation tube, a chain, a slide rail, a sprocket and an intelligent control system. The intelligent control system includes a temperature and humidity signal acquisition module, an MES signal acquisition module, a crane position signal acquisition module, a vision recognition module and a central control module. The heat radiation tubes on the heat radiation cover adopt a uniform distribution design, and can perform discontinuous radiation control to achieve the required heat energy, with high efficiency and energy saving.

Description

Technical Field

[0001] The present invention relates to the field of steel coil storage, and particularly to an intelligent anti-condensation and dehumidification integrated robot system and its control method with the name Background Art

[0002] In the steel coil storage of steel mills in southern China, the air humidity is extremely high (above 90%). Coupled with high-temperature weather, the storage area is humid and stuffy. Since the surface temperature of the steel coil is lower than the ambient temperature, a large amount of condensation will occur on the surface of the steel coil, resulting in rust of the steel coil. At present, technical means are needed to reduce the air humidity around the steel coil and eliminate the condensation on the surface of the steel coil. The existing technical means mainly arrange hot air blowing devices around each steel coil to dehumidify by heating the steel coil and accelerating the air flow around the steel coil. This method consumes a high amount of energy and has little effect on dehumidifying an incompletely enclosed warehouse. Summary of the Invention

[0003] The present invention provides an intelligent anti-condensation and dehumidification integrated robot system and its control method to overcome the technical problems such as high energy consumption of the existing dehumidification methods.

[0004] To achieve the above object, the technical solution of the present invention is as follows:

[0005] An intelligent anti-condensation and dehumidification integrated robot system includes: an AGV transport vehicle, a motor, a conductive bracket, a guide rail, a bracket, a heat radiation cover, a heat radiation tube, a chain, a slide rail, a sprocket and an intelligent control system; wherein at least two heat radiation tubes are evenly distributed in the heat radiation cover;

[0006] The bracket, the conductive bracket, the guide rail and the slide rail are fixed on the AGV transport vehicle, the motor is fixed on the bracket, the sprocket is installed at one end of the motor, the sprocket is connected to the chain, and the heat radiation cover is dragged along the slide rail by the chain to change the operation height of the robot system;

[0007] The intelligent control system includes a temperature and humidity signal acquisition module, an MES signal acquisition module, a crane position signal acquisition module, a visual recognition module and a central control module;

[0008] The temperature and humidity signal acquisition module is used to acquire air temperature and humidity value information and send the air temperature and humidity value information to the central control module;

[0009] The MES signal acquisition module is used to acquire steel coil inventory position information and send the steel coil inventory position information to the central control module;

[0010] The crane position signal acquisition module is used to acquire crane space coordinate information and send the crane space coordinate information to the central control module;

[0011] The visual recognition module is used to collect visual recognition signals and send the visual recognition signals to the central control module; the visual recognition signals include crane position information and operator position information;

[0012] The central control module collects air temperature and humidity value information, steel coil inventory position information, crane space coordinate information and visual recognition signals, and obtains control instruction signals through logical processing. The control instruction signals are used to control the moving position of the AGV transport vehicle, the heating duration of the thermal radiation hood and the adjustment distance of the chain, so as to control the moving range of the thermal radiation hood.

[0013] Further, a protective door with a contact sensor is provided at one end of the guide rail.

[0014] Further, a copper bar is arranged inside the guide rail to supply power to the guide rail.

[0015] Further, a power supply detection signal module is also included;

[0016] The input end of the power supply detection signal module is connected to the storage battery of the AGV transport vehicle, and the output end of the power supply detection signal module is connected to the central control module, which is used to detect whether the electric energy of the storage battery of the AGV transport vehicle is within the normal value.

[0017] Further, a health management module is also included;

[0018] The input end of the health management module is connected to the temperature and humidity signal acquisition module, the crane position signal acquisition module and the visual recognition module, and the output end of the health management module is connected to the central control module, which is used to judge whether the temperature and humidity signal acquisition module, the crane position signal acquisition module and the visual recognition module are working abnormally, and output the judgment result to the central control module.

[0019] Further, the heat radiation tubes are arranged on both sides of the bracket.

[0020] Further, a control method for an intelligent anti-condensation and dehumidification integrated robot system includes the following steps:

[0021] Step 1: The air temperature and humidity value information collected by the temperature and humidity signal acquisition module is compared by the central control module with the preset air temperature and humidity value information to judge whether the temperature and humidity value reaches the requirement for anti-condensation and dehumidification operations on the steel coil;

[0022] Step 2: If the temperature and humidity value reaches the heating and dehumidification operation requirement, the central control module performs an operation path planning according to the steel coil inventory position information collected by the MES signal acquisition module;

[0023] Step 3: The robot system moves according to the planned operation path. During the movement, the central control module determines whether there are objects such as cranes and personnel that obstruct the movement of the robot system based on the visual recognition signals collected by the visual recognition module; if there are objects that obstruct the movement of the robot system, the movement is paused until the central control module determines that there are no cranes and personnel obstructing the movement of the robot system, and then the robot system continues to move.

[0024] Step 4: When the robot system reaches the steel coil inventory position, it performs a preset-time heating and dehumidification operation on the steel coil through the thermal radiation hood. After the heating and dehumidification operation time arrives, the central control module controls the robot system to move to the next preset steel coil position for dehumidification and heating operations.

[0025] Furthermore, it also includes:

[0026] Step 5: During the movement of the robot system, the power supply detection signal module detects whether the battery power of the AGV transport vehicle is within the normal value. If the battery power is in an abnormal state, the robot system stops the heating and dehumidification operation and returns to the starting position, and the central control module issues a control instruction signal to make the AGV transport vehicle return to the charging position for automatic charging.

[0027] Furthermore, it also includes:

[0028] Step 6: When the robot system is in the working state, if the health management module determines that there are abnormalities in the temperature and humidity signal acquisition module, the crane position signal acquisition module, and the visual recognition module, the central control module issues an alarm signal.

[0029] Beneficial effects:

[0030] 1. The movement of the radiation hood is driven by a chain to adapt to steel coils of various sizes, and the robot structure is delicate and simple.

[0031] 2. The thermal radiation hood is designed with two sides, doubling the heating efficiency when heating the steel coil, which is energy-efficient.

[0032] 3. The thermal radiation tubes on the thermal radiation hood adopt a uniform distribution design, and non-continuous radiation control can be carried out to achieve the required heat energy.

[0033] 4. The dehumidification operation is carried out using the thermal radiation hood, which has high thermal radiation efficiency, fast dehumidification speed, and characteristics such as no pollution, no glare, no burns, no high-frequency radiation, and long service life.

[0034] 5. Power is supplied through the guide rail, and through the close contact of the internal copper bars of the guide rail, the continuous power supply is ensured, thus ensuring the stability of the thermal radiation.

[0035] 6. The guide rail has a self-protection function. A protective door with a contact sensor is added at the end of the guide rail. When the conductive bracket approaches the guide rail, the protective door opens, allowing the conductive bracket to enter the guide rail to slide and draw power. After the conductive bracket completely enters the guide rail, the protective door closes to prevent dust from entering the guide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 It is a side view of the robot system of the present invention;

[0038] Figure 2 It is a front view of the robot system of the present invention;

[0039] Figure 3 It is a program block diagram of the control method of the present invention;

[0040] Figure 4 It is a block diagram of the intelligent control system of the present invention;

[0041] Figure 5 It is a flowchart of the intelligent control of the present invention.

[0042] Among them, 01, AGV transport vehicle; 02, motor; 03, conductive bracket; 04, guide rail; 05, bracket; 06, heat radiation cover; 07, heat radiation tube; 08, chain; 09, slide rail; 10, sprocket. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0044] Embodiment 1 of the present invention provides an intelligent anti-condensation and dehumidification integrated robot system, as Figures 1-5, including: an AGV transport vehicle 01, a motor 02, a conductive bracket 03, a guide rail 04, a bracket 05, a heat radiation cover 06, a heat radiation tube 07, a chain 08, a slide rail 09, a sprocket 10 and an intelligent control system; wherein at least two heat radiation tubes 07 are evenly distributed in the heat radiation cover 06. According to the environmental humidity model, each time the heat radiation cover 06 acts on the steel coil for heating, different numbers of heat radiation tubes 07 are turned on respectively to achieve the required radiation amount, effectively achieving the purpose of energy saving; the outer shape of the heat radiation cover is semi-circular, and the inside is processed with a curvature, and the reflection focus position can be determined through calculation; each heat radiation tube 07 is U-shaped.

[0045] A copper bar is arranged in the guide rail 04 to supply power to the guide rail 04;

[0046] The bracket 05, the conductive bracket 03, the guide rail 04 and the slide rail 09 are fixed on the AGV transport vehicle 01 by bolts, the motor 02 is fixed on the bracket 05 by bolts, the sprocket 10 is installed at one end of the motor 02, the sprocket 10 is connected to the chain 08, and the heat radiation cover 06 is dragged along the slide rail 09 by the chain 08 to realize the change of the operation height of the robot system;

[0047] The intelligent control system includes a temperature and humidity signal acquisition module, an MES signal acquisition module, a crane position signal acquisition module, a visual recognition module and a central control module;

[0048] The temperature and humidity signal acquisition module is used to collect air temperature and humidity value information and send the air temperature and humidity value information to the central control module;

[0049] The MES signal acquisition module is used to collect steel coil inventory position information and send the steel coil inventory position information to the central control module, where the MES signal refers to the steel coil inventory position signal;

[0050] The crane position signal acquisition module is used to collect crane space coordinate information (XYZ axes) and send the crane space coordinate information to the central control module;

[0051] The visual recognition module is used to collect visual recognition signals and send the visual recognition signals to the central control module, and the visual recognition signals include crane position information, operator position information, etc.;

[0052] The central control module collects air temperature and humidity value information, steel coil inventory position information, crane space coordinate information and visual recognition signals, and obtains a control instruction signal through logical processing such as judging whether the temperature and humidity value reaches the operation standard and judging whether there are objects that prevent the robot system from moving such as cranes and personnel, and the control instruction signal is used to control the moving position of the AGV transport vehicle 01, the heating duration and the moving range of the heat radiation cover 06.

[0053] In a specific embodiment, a protective door with a contact sensor is provided at one end of the guide rail 04. When the conductive bracket approaches the guide rail, the protective door opens, allowing the conductive bracket to enter the guide rail to slide and draw power. After the conductive bracket completely enters the guide rail, the protective door closes to prevent dust from entering the guide rail.

[0054] In a specific embodiment, a power supply detection signal module is further included;

[0055] The input end of the power supply detection signal module is connected to the storage battery of the AGV transport vehicle 01, and the output end of the power supply detection signal module is connected to the central control module, which is used to detect whether the electric energy of the storage battery of the AGV transport vehicle 01 is within the normal value.

[0056] In a specific embodiment, a health management module is further included;

[0057] The input end of the health management module is connected to the temperature and humidity signal acquisition module, the crane position signal acquisition module, and the visual recognition module. The output end of the health management module is connected to the central control module, which is used to judge whether the temperature and humidity signal acquisition module, the crane position signal acquisition module, and the visual recognition module are operating abnormally, and output the judgment result to the central control module.

[0058] In a specific embodiment, the heat radiation tubes 07 are arranged on both sides of the bracket 05.

[0059] For the same purpose, Embodiment 2 of the present application further provides a control method for an intelligent anti-condensation and dehumidification integrated robot system, which is characterized in that:

[0060] Step 1: The air temperature and humidity value information collected by the temperature and humidity signal acquisition module. The central control module compares the collected air temperature and humidity value information with the preset air temperature and humidity value information to judge whether the temperature and humidity value reaches the requirements for anti-condensation and dehumidification operations on the steel coil;

[0061] Step 2: If the temperature and humidity value reaches the requirements for heating and dehumidification operations, the central control module performs an operation path planning according to the steel coil inventory position information collected by the MES signal acquisition module;

[0062] Step 3: The robot system moves according to the planned operation path. During the movement, the central control module judges whether there are objects such as cranes and personnel that obstruct the movement of the robot system through the visual recognition signal collected by the visual recognition module; if there are objects that obstruct the movement of the robot system, the movement is paused until the central control module judges that there are no cranes and personnel obstructing the movement of the robot system, and then the robot system continues to move;

[0063] Step 4: When the robot system reaches the steel coil inventory position, it heats and dehumidifies the steel coil through the thermal radiation hood 06 for a preset time. After the heating and dehumidifying operation time arrives, the central control module controls the robot system to move to the next preset steel coil position for dehumidifying and heating operations.

[0064] In a specific embodiment, it further includes:

[0065] Step 5: During the movement of the robot system, the power supply detection signal module detects whether the battery power of the AGV transport vehicle 01 is at a normal value. If the battery power is in an abnormal state, the robot system stops the heating and dehumidifying operation and returns to the starting position, and the central control module issues a control instruction signal to make the AGV transport vehicle 01 return to the charging position for automatic charging.

[0066] In a specific embodiment, it further includes:

[0067] Step 6: When the robot system is in the working state, if the health management module determines that there are abnormalities in the temperature and humidity signal acquisition module, the crane position signal acquisition module, and the visual recognition module, the central control module issues an alarm signal.

[0068] During specific operation, the intelligent anti-condensation and dehumidification integrated robot system moves on the ground along a predetermined track. When walking straight, it is powered by the guide rail 04, and the power supply is AC 220V, 50Hz; when turning, it is powered by a battery. When the intelligent anti-condensation and dehumidification integrated robot system changes from turning to straight walking, the contact sensor set on the guide rail 04 can automatically judge whether the conductive support enters the centering range of the guide rail and control the opening and closing of the guide rail protection door, effectively protecting the guide rail, and the positioning accuracy of the intelligent anti-condensation and dehumidification integrated robot system is ±10mm, improving the reliability of guide rail centering.

[0069] The intelligent anti-condensation and dehumidification integrated robot system selectively radiates heat to the steel coil through the feedback data of the temperature and humidity values in the storage area to reduce the humidity of the steel coil environment. It realizes the control of one vehicle for one area and the coordinated control of multiple vehicles in multiple areas, and maintains the humidity of the steel coil environment in the entire storage area below the condensation condition through the existing optimized algorithm. The intelligent anti-condensation and dehumidification integrated robot system has a machine vision function and can intelligently avoid the overhead crane in the working area of the storage area and cooperate with the overhead crane.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent anti-condensation and dehumidification integrated robot system, characterized in that, Including: AGV transport vehicle (01), motor (02), conductive support (03), guide rail (04), support (05), heat radiation cover (06), heat radiation tube (07), chain (08), slide rail (09), sprocket (10) and intelligent control system; at least two heat radiation tubes (07) are evenly distributed in the heat radiation cover (06); The support (05), the conductive support (03), the guide rail (04) and the slide rail (09) are fixed on the AGV transport vehicle (01), the motor (02) is fixed on the support (05), the sprocket (10) is installed at one end of the motor (02), the sprocket (10) is connected to the chain (08), and the heat radiation cover (06) is dragged along the slide rail (09) by the chain (08) to realize the change of the operation height of the robot system; The intelligent control system includes a temperature and humidity signal acquisition module, an MES signal acquisition module, a crane position signal acquisition module, a visual recognition module and a central control module; The temperature and humidity signal acquisition module is used to acquire air temperature and humidity value information and send the air temperature and humidity value information to the central control module; The MES signal acquisition module is used to acquire steel coil inventory position information and send the steel coil inventory position information to the central control module; The crane position signal acquisition module is used to acquire crane space coordinate information and send the crane space coordinate information to the central control module; The visual recognition module is used to acquire visual recognition signals and send the visual recognition signals to the central control module; the visual recognition signals include crane position information and operator position information; The central control module acquires air temperature and humidity value information, steel coil inventory position information, crane space coordinate information and visual recognition signals, obtains control instruction signals through logical processing, and the control instruction signals are used to control the moving position of the AGV transport vehicle (01), the heating duration of the heat radiation cover (06) and the adjustment distance of the chain (08) so as to control the moving range of the heat radiation cover (06); One end of the guide rail (04) is provided with a protective door with a contact sensor. When the conductive support approaches the guide rail, the protective door opens to allow the conductive support to enter the guide rail to slide and take power. After the conductive support completely enters the guide rail, the protective door closes; It also includes a health management module; The input end of the health management module is connected to the temperature and humidity signal acquisition module, the crane position signal acquisition module and the visual recognition module, and the output end of the health management module is connected to the central control module, which is used to judge whether the temperature and humidity signal acquisition module, the crane position signal acquisition module and the visual recognition module work abnormally, and output the judgment result to the central control module.

2. The intelligent anti-condensation and dehumidification integrated robot system according to claim 1, characterized in that: A copper bar is arranged in the guide rail (04) to supply power to the guide rail (04).

3. The intelligent anti-condensation and dehumidification integrated robot system according to claim 2, wherein: It also includes a power supply detection signal module; The input end of the power supply detection signal module is connected to the storage battery of the AGV transport vehicle (01), and the output end of the power supply detection signal module is connected to the central control module, which is used to detect whether the electric energy of the storage battery of the AGV transport vehicle (01) is within the normal value.

4. The intelligent anti-condensation and dehumidification integrated robot system according to claim 3, wherein: The heat radiation tubes (07) are arranged on both sides of the bracket (05).

5. The control method of an intelligent anti-condensation and dehumidification integrated robot system according to claim 4, characterized in that, It includes the following steps: Step 1: The air temperature and humidity value information collected by the temperature and humidity signal acquisition module. The central control module compares the collected air temperature and humidity value information with the preset air temperature and humidity value information to determine whether the temperature and humidity values meet the requirements for anti-condensation and dehumidification operations on the steel coil; Step 2: If the temperature and humidity values meet the requirements for heating and dehumidification operations, the central control module plans the operation path according to the steel coil inventory position information collected by the MES signal acquisition module; Step 3: The robot system moves according to the planned operation path. During the movement, the central control module determines whether there are objects such as cranes and personnel that obstruct the movement of the robot system through the visual recognition signals collected by the visual recognition module; if there are objects that obstruct the movement of the robot system, the movement is paused until the central control module determines that there are no cranes and personnel obstructing the movement of the robot system, and then the robot system continues to move; Step 4: When the robot system reaches the steel coil inventory position, it performs heating and dehumidification operations on the steel coil through the heat radiation cover (06) for a preset time. After the heating and dehumidification operation time arrives, the central control module controls the robot system to move to the next preset steel coil position for dehumidification and heating operations.

6. The control method of an intelligent anti-condensation and dehumidification integrated robot system according to claim 5, characterized in that, It also includes: Step 5: During the movement of the robot system, the power supply detection signal module detects whether the battery power of the AGV transport vehicle (01) is within the normal value. If the battery power is in an abnormal state, the robot system stops the heating and dehumidification operation and returns to the starting position, and the central control module issues a control instruction signal to make the AGV transport vehicle (01) return to the charging position for automatic charging.

7. The control method of an intelligent anti-condensation and dehumidification integrated robot system according to claim 6, characterized in that, It also includes: Step 6: When the robot system is in the working state, if the health management module determines that there are abnormalities in the temperature and humidity signal acquisition module, the crane position signal acquisition module, and the visual recognition module, the central control module issues an alarm signal.

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