An automated handling method, apparatus and device

Abstract

The application provides an automatic carrying method, device and equipment. The automatic carrying method is used for a master control machine of a carrying system. The master control machine analyzes acquired first position information to obtain pose information of a target object. According to the pose information, current pose information of a rotating platform, current pose information of a main arm, current pose information of a sub-arm and current pose information of a carrying mechanism, a motion model established for the carrying system is used to determine first motion trajectory parameters corresponding to the rotating platform, the main arm, the sub-arm and the carrying mechanism respectively for representing a first motion trajectory to be performed when carrying the target object, and then the rotating platform, the main arm, the sub-arm and the carrying mechanism are controlled to operate according to the first motion trajectory parameters respectively to carry the target object. It can be seen that the automatic carrying mechanism provided by the embodiment does not need human participation in carrying, completely meets the automatic carrying demand, and also avoids the danger of human participation.

Description

Technical Field

[0001] This application relates to the field of material handling technology, and more specifically, to an automated material handling method, apparatus, and equipment. Background Technology

[0002] Currently, most rocket artillery systems employ modular storage and delivery box technology, which can improve the combat efficiency and extend the battlefield lifespan of rocket artillery weapons to some extent. However, the automatic handling and loading technology for storage and delivery boxes is still relatively backward, and manual operation of handling equipment is still required. The automation level is relatively low, especially in situations with complex outdoor terrain, remote locations, or when large mechanical equipment needs to be assembled. In these cases, manual operation of handling equipment is still necessary to achieve the task. This manual handling method still has problems such as high risk and low efficiency, and it is difficult to meet the current industry requirements. Summary of the Invention

[0003] This application provides an automated handling method, apparatus, and equipment that fully realizes the need for automated handling without human intervention.

[0004] On one hand, this application provides an automated handling method applied to the main controller of a handling system. The handling system further includes a rotating platform, a robotic arm, a handling mechanism, and a positioner. The robotic arm includes a main arm and a secondary arm. One end of the main arm is rotatably mounted on the rotating platform, and the other end is rotatably connected to one end of the secondary arm. The other end of the secondary arm is rotatably connected to the handling mechanism, and the handling mechanism is equipped with a positioner. The method includes:

[0005] Obtain the first location information sent by the locator for collecting the location of the target object;

[0006] Analyze the first location information to obtain the pose information of the target object;

[0007] Based on the pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the transport mechanism, the established motion model for this transport system is used to determine the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the transport mechanism to represent the motion trajectory to be performed when transporting the target object.

[0008] The rotating platform, the main arm, the auxiliary arm, and the conveying mechanism are controlled to operate according to their respective first motion trajectory parameters in order to convey the target object.

[0009] On the other hand, this application embodiment also provides an automatic handling device applied to the main control unit of a handling system. The handling system further includes a rotating platform, a robotic arm, a handling mechanism, and a positioner. The robotic arm includes a main arm and a secondary arm. One end of the main arm is rotatably mounted on the rotating platform, and the other end is rotatably connected to one end of the secondary arm. The other end of the secondary arm is rotatably connected to the handling mechanism, and the handling mechanism is equipped with a positioner. The automatic handling device includes:

[0010] The first location information acquisition unit is used to acquire the first location information sent by the locator for collecting the location of the target object;

[0011] The pose information obtaining unit is used to analyze the first position information to obtain the pose information of the target object.

[0012] The first motion trajectory parameter determination unit is used to determine the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the transport mechanism, respectively, based on the pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the transport mechanism, using the established motion model for this transport system.

[0013] The control and operation unit is used to control the rotating platform, the main arm, the auxiliary arm and the conveying mechanism to operate according to their respective first motion trajectory parameters in order to convey the target object.

[0014] Therefore, this application provides an automated handling method, apparatus, and device. The automated handling method is used in the main controller of a handling system. The main controller analyzes the acquired first position information to obtain the pose information of the target object. Based on the pose information, the current pose information of the rotating platform, the main arm, the auxiliary arm, and the handling mechanism, and using an established motion model for the handling system, it determines the first motion trajectory parameters corresponding to the rotating platform, main arm, auxiliary arm, and handling mechanism to be executed when handling the target object. Then, it controls the rotating platform, main arm, auxiliary arm, and handling mechanism to operate according to their respective first motion trajectory parameters to achieve the handling of the target object. It is evident that the automated handling mechanism provided in this embodiment eliminates the need for human intervention, fully meeting the requirements of automated handling while also avoiding the dangers associated with human involvement. Attached Figure Description

[0015] Figure 1 This is a schematic flowchart illustrating an exemplary embodiment of the automatic handling method of this application;

[0016] Figure 2This is a schematic diagram of the structure of an automated handling system shown in an exemplary embodiment of this application;

[0017] Figure 3 This is a flowchart illustrating an exemplary embodiment of the automatic docking method of this application;

[0018] Figure 4(a) is a schematic diagram of the initial state of an automated transport mechanism shown in an exemplary embodiment of this application;

[0019] Figure 4(b) is a schematic diagram illustrating an automated handling system identifying the state of a target object in an exemplary embodiment of this application;

[0020] Figure 4(c) is a schematic diagram illustrating the handling state of an automated handling system according to an exemplary embodiment of this application;

[0021] Figure 4(d) is a schematic diagram illustrating the docking state of an automated handling system according to an exemplary embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the structure of a conveying mechanism shown in an exemplary embodiment of this application;

[0023] Figure 6 A schematic diagram of the structure of a rotating platform is shown in an exemplary embodiment of this application.

[0024] Figure 7 This is a schematic diagram of the structure of an automated handling device shown in an exemplary embodiment of this application;

[0025] Figure 8 This is a schematic diagram of the structure of an electronic device illustrated in an exemplary embodiment of this application. Detailed Implementation

[0026] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0027] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application. Unless otherwise defined, the technical or scientific terms used in this application should be understood in their ordinary sense by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are only used to distinguish different components. Similarly, the terms "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one, which will be separately stated if only "a" is referred to. "A plurality" or "several" means two or more. Unless otherwise indicated, the terms "front," "rear," "lower," and / or "upper," "top," "bottom," etc., are for ease of description only and are not limited to a location or spatial orientation. The terms "comprising" or "including," etc., mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The word “connection” or “link” is not limited to physical or mechanical connections, but can also include electrical connections, whether direct or indirect.

[0028] Please see Figure 1 , Figure 1 This is a flowchart illustrating an automated handling method provided in an embodiment of this application, applied to the main control unit of a handling system, such as... Figure 2 As shown, the handling system also includes a rotating platform 1, a robotic arm 2, a handling mechanism 3, and a locator 4. The robotic arm 2 includes a main arm 211 and a secondary arm 22. One end of the main arm 211 is rotatably mounted on the rotating platform 1, and the other end is rotatably connected to one end of the secondary arm 22. The other end of the secondary arm 22 is rotatably connected to the handling mechanism 3, and the handling mechanism 3 is equipped with the locator 4. The locator 4 is used to collect the position information of the target object. The main controller is electrically connected to the main arm 21, the secondary arm 22, and the rotating platform 1. In this embodiment, the other end of the secondary arm 22 can be understood as the end of the secondary arm 22 that is away from the end connected to the main arm 21, that is, the end of the secondary arm 22.

[0029] In this embodiment, the main controller can be placed on the rotating platform 1, robotic arm, or handling mechanism 3 in the automated handling system, or it can be placed at the site of the object being handled. The main controller can be wired or wirelessly connected to the main arm 21, auxiliary arm 22, and rotating platform 1. This embodiment does not limit this connection.

[0030] In this embodiment, the main arm 21 and the auxiliary arm 22 are rotatably connected, which can be understood as the auxiliary arm 22 being able to rotate independently relative to the main arm 21; the conveying mechanism 3 is rotatably connected to the end of the auxiliary arm 22, which can be understood as the conveying mechanism 3 being able to rotate independently relative to the auxiliary arm 22.

[0031] This method is as follows Figure 1 The flowchart shown below implements the following steps:

[0032] Step 101: Obtain the first location information sent by the locator 4.

[0033] In this embodiment, the first location information is named to facilitate differentiation from the location information in the following text, and is not used to limit a specific location information.

[0034] The locator 4 can be a vision camera or a positioning device; this embodiment is not limited to either. Taking a vision camera as an example, during the handling process, the main control unit sends a shooting command to the vision camera to capture the target object. The vision camera captures a position image containing the target object as position information according to the shooting command and sends the position image to the main control unit. After receiving the position image, the main control unit analyzes the position image to obtain pose information representing the position and orientation of the target object.

[0035] Step 102: Analyze the first position information to obtain the pose information of the target object's location.

[0036] As an example, a pre-configured coordinate system for the location of the target object can be used to determine the position and attitude information of the first position information in the coordinate system, thereby obtaining the pose information of the target object's location.

[0037] Step 103: Based on the pose information, the current pose information of the rotating platform 1, the current pose information of the main arm 21, the current pose information of the auxiliary arm 22, and the current pose information of the transport mechanism 3, and using the established motion model for this transport system, determine the first motion trajectory parameters corresponding to the rotating platform 1, the main arm 21, the auxiliary arm 22, and the transport mechanism 3 to represent the motion trajectory to be executed when transporting the target object.

[0038] In this embodiment, the first dynamic trajectory parameter is named for ease of distinction from the dynamic trajectory parameters mentioned later, and is not intended to limit a specific dynamic trajectory parameter.

[0039] As an example, the motion model of this handling system can be obtained by establishing a kinematic analysis of the automated handling system using the DH coordinate system.

[0040] This automatic handling system can be driven by an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder; this embodiment is not limited to any of these. The input parameters of this motion model are at least the pose information, the current pose information of the rotating platform 1, the current pose information of the main arm 21, the current pose information of the auxiliary arm 22, and the current pose information of the handling mechanism 3. The output parameters are the first motion trajectory parameters corresponding to the rotating platform 1, the main arm 21, the auxiliary arm 22, and the handling mechanism 3, respectively. Subsequently, the main controller can control the rotating platform 1, the main arm 21, the auxiliary arm 22, and the handling mechanism 3 to execute step 104.

[0041] Step 104: Control the rotating platform 1, the main arm 21, the auxiliary arm 22 and the conveying mechanism 3 to operate according to their respective first motion trajectory parameters in order to convey the target object.

[0042] In this embodiment, after the rotating platform 1, the main arm 21, the auxiliary arm 22 and the conveying mechanism 3 operate according to their respective first motion trajectory parameters, they can carry out the conveying of the target object.

[0043] Finish Figure 1 The process described.

[0044] As can be seen from the above technical solutions, the automatic handling method provided in this application embodiment is used in the main controller of the handling system. The main controller analyzes the acquired first position information to obtain the pose information of the target object. Based on the pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the handling mechanism, and using the established motion model for this handling system, it determines the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the handling mechanism to be executed when handling the target object. Then, it controls the rotating platform, the main arm, the auxiliary arm, and the handling mechanism to operate according to their respective first motion trajectory parameters to achieve the handling of the target object. Therefore, the automatic handling mechanism provided in this embodiment does not require human intervention in handling, fully meeting the needs of automatic handling, and also avoiding the dangers of human intervention.

[0045] After completion Figure 1 Following the illustrated process, in some embodiments, after transporting the target object, it can be placed or assembled. In some embodiments, such as... Figure 3 As shown, the method also includes the following steps:

[0046] Step 105: Obtain the second location information collected by the locator 4, which indicates the desired location for the target object to be moved to.

[0047] In this embodiment, the second location information is named to facilitate differentiation from the location information mentioned above, and is not intended to limit a specific location information.

[0048] In this embodiment, the locator 4 collects the placement or assembly position of the target object to be transported again, that is, the second position information in step 105.

[0049] Step 106: Analyze the second location information to obtain the positioning information of the location to be moved.

[0050] As an example, a pre-configured coordinate system for the location where the target object is to be placed can be used to determine the position and attitude information of the second position information in the coordinate system, thereby obtaining the pose information of the target object to be transported to the location to be transported.

[0051] Step 107: Based on the positioning information, the pose information of the rotating platform when lifting the target object, the pose information of the main arm when lifting the target object, the pose information of the auxiliary arm when lifting the target object, and the pose information of the transport mechanism when lifting the target object, the second motion trajectory parameters to be executed by the rotating platform 1, the main arm 211, the auxiliary arm 22, and the transport mechanism 3 respectively when transporting the target object to the target position are determined using the established motion model for this transport system.

[0052] In this embodiment, the second motion trajectory parameter is named to distinguish it from the motion trajectory parameters mentioned above, and is not intended to limit a specific motion trajectory parameter.

[0053] Step 108: Based on the positioning information, instruct the rotating platform 1, the main arm 211, the auxiliary arm 22, and the transport mechanism 3 to transport the target object to the target location according to the second motion trajectory parameters.

[0054] In some embodiments, based on the positioning information, the current pose information of the rotating platform 1, the current pose information of the main arm 21, the current pose information of the auxiliary arm 22, and the current pose information of the transport mechanism 3, and using the established motion model for this transport system, the target first motion trajectory parameters corresponding to each of the rotating platform 1, the main arm 21, the auxiliary arm 22, and the transport mechanism 3 are determined to represent the target object to be transported to the position to be transported. Then, the rotating platform 1, the main arm 211, the auxiliary arm 22, and the transport mechanism 3 are instructed to transport the target object to the target position according to their respective corresponding target first motion trajectory parameters.

[0055] In automated handling and docking operations, the handling mechanism 3 uses its onboard vision camera to acquire information about the target object, such as... Figure 2The first position information of the target ammunition box is fed back to the industrial control computer. Based on the first position information, the industrial control computer analyzes the pose information of the target object. With the help of the established motion model for this handling system, it calculates the first motion trajectory parameters corresponding to the rotating platform 1, main arm 211, auxiliary arm 22 and handling mechanism 3, and instructs the rotating platform 1, main arm 211, auxiliary arm 22 and handling mechanism 3 to move to the object to be handled according to the calculation results to handle the target object. It also obtains the second position information of the target object at the desired handling position according to the locator 4, such as the assembly position information of the ammunition box of the launch vehicle when the target object is an ammunition box. Then it moves to the target position and assembles the ammunition box into the launch vehicle. Its motion posture at each stage is shown in Figure 4. Among them, taking the target object as an ammunition box as an example, Figure 4(a) shows the initial state, Figure 4(b) shows the identification and docking of the ammunition box, Figure 4(c) shows the handling of the ammunition box, and Figure 4(d) shows the movement to the target position.

[0056] As can be seen, the technical solution provided in this embodiment can automatically place the target object at the desired transport location without human intervention, further improving the automation and intelligence of the transport process.

[0057] In some embodiments, such as Figure 5 As shown, the handling mechanism 3 includes: a fork mast 31, two electric push rods 32, two guide rails 33, two sliders 34, two adapters 35, two mounting shafts 36, two forks 37, a rotating mechanism, and a first telescopic support mechanism 38; the fork mast 31 is mounted on the end of the auxiliary boom 22 and is equipped with the guide rails 33; each guide rail 33 is equipped with its corresponding electric push rod 32 and slider 34; each slider 34 is connected to a mounting shaft 36 through its corresponding adapter 35, and each mounting shaft 36 is respectively connected to... The forks 37 should be installed. The electric push rods 32 are used to connect to the main control unit so that, under the control of the main control unit, the angle between the two corresponding forks 37 can be adjusted by adjusting the height difference between the two electric push rods 32. One end of the rotating mechanism is installed at the end of the auxiliary arm 22, and the other end is connected to the fork mast 31. The rotating mechanism is also connected to the main control unit. The actuating end of the first telescopic support mechanism 38 is connected to the fork mast 31, and the input end is connected to the first set position of the auxiliary arm 22 and connected to the main control unit.

[0058] As an example, the mounting shaft 36 can be a telescopic link, one end of which is connected to the adapter 35 and the other end is connected to the fork 37. The telescopic link connected to the adapter 35 can rotate independently relative to the adapter 35 at a set angle. The adapter 35 is also electrically connected to the main controller. The main controller can also control the adapter 35 to trigger the telescopic link to extend or retract. When it is necessary to increase the length of the telescopic link, the main controller controls the adapter 35 to trigger the telescopic link to extend. When it is necessary to shorten the length of the telescopic link, the main controller controls the adapter 35 to trigger the telescopic link to shorten. This allows the length of the telescopic link to be adjusted according to the size of the target object, so as to transport goods more stably.

[0059] In this embodiment, the electric push rod 32 can push the guide rail 33 under the control of the main controller, so that the slider 34 on the guide rail 33 moves along the guide rail 33, and then the slider 34 drives the fork 37 to move along the direction of the guide rail 33.

[0060] In this embodiment, a vision camera can be fixedly mounted on the telescopic link between the two forks 37 for recognizing and capturing the position and attitude information of the target object during the handling process. The pitch of the handling mechanism 3 is achieved by electric push rods 32. The handling mechanism 3 uses two independently controlled electric push rods 32, and the angle of the forks 37 can be adjusted by the mounting shaft 36 according to the height difference of the electric push rods 32, so that the target object can deflect around the central axis along the extension direction of the auxiliary arm 22 during the movement, which facilitates the adjustment of the angle during the automatic handling process.

[0061] The specific implementation of step 104 includes the following steps A to C:

[0062] Step A: Based on the pose information, the current pose information of the rotating platform 1, the current pose information of the main arm 211, the current pose information of the auxiliary arm 22, and the current pose information of the fork 37, the established motion model for this handling system is used to determine the first motion trajectory parameters corresponding to the rotating platform 1, the main arm 211, the auxiliary arm 22, and the fork 37 for representing the motion trajectory to be executed when handling the target object.

[0063] In some embodiments, this automated handling system is driven by an electric cylinder. In the kinematic analysis, the rotation angle of the boom, i.e., the main boom and the auxiliary boom 22, is taken as the analysis object. Therefore, a functional relationship between the electric cylinder movement and the boom rotation angle is established. Taking the fork 37 in the handling mechanism 3 as an example, when adjusting the angle deflection using the height difference between the two forks 37, the deflection center axis remains unchanged. Figure 3 As shown, the target object deflection angle θ is:

[0064]

[0065] Where D is the distance between the central axes of the two forks 37 in the initial state of the electric actuator, and L is the extension of the electric actuator 32, with the extension direction as the positive direction.

[0066] Based on the above embodiments, the specific implementation of step 105 includes the following steps B to C:

[0067] Step B: Control the rotating platform 1, the main arm 211 and the auxiliary arm 22 to move to the desired position for the transportable target object according to their respective first motion trajectory parameters.

[0068] In this embodiment, controlling the rotating platform 1, the main arm 211, and the auxiliary arm 22 to move to the desired position for the transportable target object according to their respective first motion trajectory parameters can be understood as the main controller controlling the rotating platform 1, the main arm 211, and the auxiliary arm 22 to move according to their respective first motion trajectory parameters. However, the desired positions for the transportable target object after the rotating platform 1, the main arm 211, and the auxiliary arm 22 move according to their respective first motion trajectory parameters are not the same. However, the rotating platform 1, the main arm 211, and the auxiliary arm 22 each complete their corresponding motion trajectory and cooperate to make the forks 37 reach the position of the target object.

[0069] Step C: Control the operation of the electric push rod and the first telescopic support mechanism so that the forks move according to the corresponding first motion trajectory parameters to transport the target object.

[0070] This embodiment is a forklift-type five-degree-of-freedom handling robot arm, which can meet the needs of handling and assembling target objects, such as the handling and assembly needs of a rocket launcher storage and transportation box.

[0071] The rotating platform 1, the main arm 211, and the auxiliary arm 22 are controlled to move to the desired position for transporting the target object according to their respective first motion trajectory parameters.

[0072] In this embodiment, the first telescopic support mechanism 38 is named only to distinguish it from the telescopic support mechanisms mentioned later, and is not intended to limit a specific telescopic support mechanism.

[0073] The first setting position is named simply to distinguish it from the setting positions in the following text, and is not intended to limit a specific setting position.

[0074] Step 104: Control the rotating platform 1, the main arm 21, the auxiliary arm 22 and the conveying mechanism 3 to operate according to their respective first motion trajectory parameters in order to convey the target object.

[0075] In this embodiment, the end of the auxiliary arm 22 can be understood as the end of the auxiliary arm 22 that is far from the end connected to the main arm 21, that is, the end of the auxiliary arm 22.

[0076] As can be seen, the automated handling system provided in this embodiment combines the degrees of freedom of the robotic arm and the load-bearing capacity of the fork mast 31, and uses independently controlled lifting of the forks 37 to facilitate fine-tuning of the relative posture with respect to the target object. Furthermore, the handling mechanism 3 provided in this embodiment can flexibly adjust the angle of the forks 37 according to the collected position of the target object.

[0077] As one embodiment, the main boom 211 includes a main boom body 211, a second telescopic support mechanism 212, and a main boom mounting bracket 213; one end of the main boom body 211 is rotatably connected to the main boom mounting bracket 213, and the other end is rotatably connected to the end of the auxiliary boom 22, and the second set position of the main boom body is also connected to the execution end of the second telescopic support mechanism; the main boom mounting bracket is mounted on the rotating platform 1; the input end of the second telescopic support mechanism is fixedly mounted on the mounting bracket and is also connected to the main control electromechanical system.

[0078] The implementation of step B includes the following steps: controlling the operation of the rotating platform, the second telescopic support mechanism and the auxiliary arm, so that the rotating platform, the main arm and the auxiliary arm move according to their respective first motion trajectory parameters, so as to drive the fork to move to the desired position for the transportable target object.

[0079] In this embodiment, the term "second telescopic support mechanism" is used merely to distinguish it from other telescopic support mechanisms mentioned in the text, and is not intended to limit any particular telescopic support mechanism. The extension or retraction of the actuator end in the second telescopic support mechanism can drive the main arm to rotate around the rotary platform.

[0080] The second setting position is merely a name used to distinguish it from other setting positions in the text, and is not intended to limit a specific setting position.

[0081] The main boom body 211 can be understood as the main body of the main boom. To facilitate the installation of the auxiliary boom 22 and reduce weight, the main boom body can be a shell mechanism. In some embodiments, the main boom also includes a first rotating shaft 214. One end of the main boom body 211 is rotatably connected to the main boom mounting support 212 via the first rotating shaft 214, so as to realize the relative rotation of the main boom body 211 with respect to the main boom mounting support 212. As an embodiment, there are two second telescopic support mechanisms 213. The end of the execution end of each second telescopic support mechanism 213 is provided with a sleeve that cooperates with the first rotating shaft 214. The first rotating shaft 214 is set at a second predetermined position of the main boom body 211. The sleeves of each second telescopic support mechanism 213 as the execution end are respectively installed at both ends of the first rotating shaft 214. The rotating end of each second telescopic support mechanism 213 is respectively installed on the main boom mounting support 212. The second telescopic support mechanism 213 in this embodiment has a sleeve at its actuating end that mates with the first rotating shaft 214, allowing the main arm 211 to rotate around the first rotating shaft 214 as the second telescopic support mechanism 213 extends or retracts. It should be noted that the first rotating shaft 214 is merely a name used to distinguish rotating shafts in the following text and is not intended to limit any particular rotating shaft.

[0082] In this embodiment, the second telescopic support mechanism 213 may have the same structure as the first telescopic support mechanism 38 or may be different; this embodiment does not limit this.

[0083] As an example, such as Figure 2 As shown, the auxiliary boom 22 may include an auxiliary boom body 221 and a third telescopic support mechanism 222; one end of the auxiliary boom body 221 is rotatably connected to the end of the main boom body 211, and the other end is rotatably connected to the fork mast 31 through the rotating mechanism, and the third set position of the auxiliary boom body 221 is also connected to the execution end of the third telescopic support mechanism 222; the input end of the third telescopic support mechanism 222 is rotatably connected to the fourth set position of the main boom body 211, and is also connected to the main control electromechanical system.

[0084] In this embodiment, the third telescopic support mechanism 222 is only named to distinguish it from other telescopic support mechanisms mentioned in the text, and is not intended to limit a particular telescopic support mechanism.

[0085] The third and fourth setting positions are merely names used to distinguish them from other setting positions in the text, and are not intended to limit any particular setting position. The input end of the third telescopic support mechanism 222 is rotatably connected to the fourth setting position of the main arm body. The input end of the third telescopic support mechanism 222 can rotate relative to the main arm body 211, and the execution end can rotate relatively independently relative to the auxiliary arm body 221.

[0086] The third telescopic support mechanism 222 may have the same structure as the first telescopic support mechanism 38 and the second telescopic support mechanism 213, or it may be different. The third telescopic support mechanism 222 may be a hydraulic cylinder or a pneumatic cylinder. This embodiment does not limit this.

[0087] The specific implementation method of controlling the operation of the rotating platform 1, the second telescopic support mechanism 213 and the auxiliary boom 22 in the implementation steps may include: controlling the operation of the rotating platform 1, the second telescopic support mechanism 213 and the third telescopic support mechanism 222, so that the rotating platform 1, the main boom 211 and the auxiliary boom 221 move according to their respective first motion trajectory parameters, so as to drive the fork 37 to move to the desired position for the transportable target object.

[0088] In this step, the rotation amount of the rotating platform 1 is controlled to ensure that the rotating platform executes the corresponding first motion trajectory parameter movement. The rotation amount of the rotating platform 1 and the extension amount of the second telescopic support mechanism are controlled to ensure that the main boom body executes the corresponding first motion trajectory parameter movement. The rotation amount of the rotating platform 1, the extension amount of the second telescopic support mechanism and the extension amount of the third telescopic support mechanism 222 are used to ensure that the auxiliary boom body executes the corresponding first motion trajectory parameter movement.

[0089] As an example, such as Figure 6 As shown, one end of the main boom 211 is rotatably connected to one end of the auxiliary boom 221. The rotating platform 1 includes a motor, a motor reducer 11, a gear shaft 12, a bearing 13, a shaft end flange 14, a slewing bearing fixing platform 15, a slewing bearing 16, a drive gear 17, and a main boom fixing platform 18. The input end of the motor is connected to the main control electromechanical system, and the output end of the motor is equipped with the motor reducer. The gear shaft 12 is mounted on the motor reducer 11. The bearing 13 is sleeved on the gear shaft 12 through the shaft end flange 14. The shaft end flange 14 is mounted on the slewing bearing fixing platform 15. The slewing bearing 16 is mounted on the slewing bearing fixing platform 15. The slewing bearing 16 and the drive gear 17 are fitted onto the gear shaft 12. The gear shaft 12 is connected to the main boom 211 through the main boom fixing platform 18.

[0090] The motor in this embodiment can be a servo motor. The use of a motor reducer in this embodiment can reduce the output speed, increase torque, and improve load capacity, thereby achieving an ideal transmission effect and meeting work requirements. Furthermore, the reducer can also increase output torque while reducing speed. The motor reducer in this embodiment can be a planetary reducer; in other words, the movement of the rotating platform 1 can be achieved using a servo motor and a planetary reducer transmission.

[0091] The specific implementation method of controlling the operation of the rotating platform 1, the second telescopic support mechanism 213 and the third telescopic support mechanism 222 in the implementation steps includes the following steps: controlling the operation of the motor, the second telescopic support mechanism 213 and the third telescopic support mechanism 222, so that the gear shaft 12, the main boom 211 and the auxiliary boom 221 move according to their respective first motion trajectory parameters, so as to drive the fork 37 to move to the desired position for the transportable target object.

[0092] In this step, after the main controller controls the motor to drive the gear shaft to rotate, the gear shaft 12 will drive the main arm body 211 to rotate through the main arm fixed platform 1, which corresponds to the first motion trajectory parameter of the rotating platform 1.

[0093] In some embodiments, such as Figure 2 As shown, there are two second telescopic support mechanisms 213. The end of the execution end of each second telescopic support mechanism 213 is provided with a sleeve that is installed in conjunction with the first rotating shaft. The first rotating shaft is set at a second set position of the main arm body 211. The sleeve of each second telescopic support mechanism 213 as the execution end is respectively installed at both ends of the first rotating shaft. The rotating end of each second telescopic support mechanism is respectively installed on the main arm mounting support.

[0094] In this embodiment, the sleeve of the second telescopic support mechanism 213 is directly sleeved on the first rotating shaft, so that the second telescopic support mechanism can rotate relative to the first rotating shaft when driving the main arm body to rotate.

[0095] In other embodiments, such as Figure 2 As shown, the main boom 211 also includes a fourth rotating shaft 215. The conveying mechanism 3 includes a fifth rotating shaft 39 and a rotating shaft mounting bracket 40. The number of the first telescopic support mechanism 38 and the third telescopic support mechanism 222 are both one. The end of the execution end of the third telescopic support mechanism 222 is provided with a sleeve that cooperates with the second rotating shaft 223. The fourth rotating shaft 215 penetrates the side wall of the main boom body 211 and is located at a fourth predetermined position on the main boom body 211. The third telescopic support mechanism 22... The input end of the first telescopic support mechanism 212 is sleeved on the fourth rotating shaft 215 and placed inside the main boom body 211. The sleeve of the third telescopic support mechanism 222, as the execution end, is sleeved on the second rotating shaft 223 and placed at the third set position of the auxiliary boom 22. The rotating shaft mounting bracket is installed on the side wall of the auxiliary boom 22 opposite to the second rotating shaft 223. The input end of the first telescopic support mechanism 38 is sleeved on the fifth rotating shaft 39. The execution end of the first telescopic support mechanism 38 is connected to the fork mast 31.

[0096] In this embodiment, the fifth setting position is merely a name used to distinguish it from other setting positions in the text, and is not intended to limit a specific setting position.

[0097] The names 215 (fourth rotation axis) and 39 (fifth rotation axis) are merely used to distinguish them from other rotation axes mentioned in the text, and are not intended to define any particular rotation axis.

[0098] The sleeve of the third telescopic support mechanism 222 is located inside the main arm body and cooperates with the second rotating shaft that passes through the side wall of the auxiliary arm body 221. In this embodiment, the width of the third telescopic support mechanism 222 is smaller than the width of the main arm body, so that the third telescopic support mechanism 222 is not limited by the width of the main arm body when performing telescopic movement.

[0099] The rotating shaft mounting support can be a double-ear ring seat. The second rotating shaft 223 passes through the through holes of the double ears in the double-ear ring seat. The input end of the first telescopic support mechanism 38 is located between the double ears in the double-ear ring seat and is sleeved on the second rotating shaft 223, so that the input end of the first telescopic support mechanism 38 can rotate around the second rotating shaft 223.

[0100] As one embodiment, the main boom 211 further includes a first rotating shaft 214, the auxiliary boom 22 further includes a second rotating shaft 223, and the handling mechanism 3 further includes a third rotating shaft. One end of the main boom 211 is rotatably connected to the main boom mounting support 213 via the first rotating shaft 214, the auxiliary boom 22 is rotatably connected to the other end of the main boom 211 via the second rotating shaft 223, and the handling mechanism 3 is rotatably connected to the other end of the auxiliary boom 221 via the third rotating shaft.

[0101] The specific implementation of step 104 may also include the following steps:

[0102] The main control unit determines the first motion trajectory parameters corresponding to the rotating platform 1, the main arm 211, the auxiliary arm 22, and the conveying mechanism 3, respectively, according to the following first expression, which represent the first motion trajectory parameters to be executed when conveying the target object;

[0103] The expression is:

[0104] The first expression is:

[0105] θ1=arctan(l y / l x ); β3 = γ - β1; θ2 = β2 + β4 + β5; θ4=θ 234 -θ2-θ3;θ5=arctan(nx sinθ1-n y sinθ1) / (pxcosθ1-pycosθ1)

[0106] in, T The pose transformation matrix of the fork front end positioning point relative to the robot arm reference coordinate system. ，n x In the coordinate system of the front end of the fork x The axis in the base coordinate system x Axial components, n y for In the coordinate system of the front end of the fork y The axis in the base coordinate system x Components of the axis, n z The position of the fork tip in the coordinate system z The axis in the base coordinate system x Components of the axis, p x In the coordinate system of the front end of the fork x The axis in the base coordinate system y Components of the axis, p y Let the y-axis in the coordinate system of the fork front end be the y-axis in the base coordinate system. Components of the axis, p z for The z-axis in the coordinate system of the fork front end is in the base coordinate system z Components of the axis, a x In the coordinate system of the front end of the fork x The axis in the base coordinate system z Components of the axis, a y In the coordinate system of the front end of the fork y The axis in the base coordinate system z Components of the axis, a z In the coordinate system of the front end of the fork z The axis in the base coordinate system z Components of the axis, l x The origin of the coordinate system for the front end of the fork is in the base coordinate system. x Components of the axis ，l y The origin of the coordinate system for the front end of the fork is in the base coordinate system. y Components of the axis, l z The origin of the coordinate system for the front end of the fork is in the base coordinate system. z Components of the axis, l 2 is the length between the center lines of the two rotation axes of the main arm.l 3 represents the length between the center lines of the two rotation axes of the auxiliary boom. l 4 is the equivalent connecting rod between the end-rotating shaft of the boom and the positioning point at the front end of the fork. d 1 is the length of the first line connecting the lower rotating shaft of the main boom and the end rotating shaft of the auxiliary boom. d 2 is the length of the second line connecting the lower rotating shaft of the main boom and the positioning point at the front end of the fork. β 1 is the angle between the second line and the vertical line drawn from the positioning point at the front end of the fork to the ground. β 2 is β The complementary angle of 1, β 3 is the equivalent link l The angle between line 4 and the second line. β 4 For the first The angle between the first line and the second line. β 5 is the angle between the center lines of the two rotation axes of the main arm and the first connecting line. γ For equivalent link l 4. Angle with the vertical line drawn from the positioning point at the front end of the fork to the ground θ 234 for θ 2 θ 3 and θ The sum of 4, θ 1 represents the rotation angle of the rotating platform's link coordinate system relative to the base coordinate system. θ 2 for The rotation angle of the main boom link coordinate system relative to the rotary platform link coordinate system. θ 3 represents the rotation angle of the secondary boom link coordinate system relative to the main boom link coordinate system. θ 4 represents the rotation angle of the gantry link coordinate system relative to the boom link coordinate system. θ 5 represents the coordinate system of the end fork relative to the equivalent link. l 4. Rotation angle of the coordinate system.

[0107] The second and third rotation axes are simply names used to distinguish them from other rotation axes in the text, and are not intended to define any particular rotation axis.

[0108] As an example, the method implements a way to determine the first motion trajectory parameters to be executed when transporting the target object for each of the rotating platform 1, the main arm 211, the auxiliary arm 22, and the transport mechanism 3 according to the following first expression, the method comprising:

[0109] Step D: Determine the two pre-set interpolation points and the angle value corresponding to each target joint calculated by the first expression.

[0110] Given the initial and final coordinates and attitudes of this automated handling system, 3-5-3 piecewise polynomial interpolation can be used to plan the joint space trajectory of the automated handling system, converting the motion function of the automated handling system into a function of time. First, in the initial and final pose coordinates, two interpolation coordinates and the time node when passing through the interpolation pose coordinates are set, dividing the system into three motion trajectory segments. These three motion trajectory segments are the first, second, and third motion trajectory segments described below. In this step, the two interpolation points can be two interpolation points input by the user.

[0111] The angle values ​​in this step are calculated using the first expression described above, representing the angle values ​​corresponding to the rotating platform 1, the main arm 211, the auxiliary arm 22, and the transport mechanism 3 respectively when passing through the interpolated pose coordinates.

[0112] Step E: For each interpolation point, calculate the angular velocity value corresponding to each target joint when passing through the interpolation point, as a boundary constraint condition. The target joint includes the rotating platform, the main arm, the auxiliary arm, or the transport mechanism.

[0113] Step F: Based on the angle value, establish the angle function of each target joint in the three motion trajectories in the three motion trajectories obtained by polynomial interpolation operation as described in the second expression below, wherein the three motion trajectories are divided according to two interpolation points and the time node when the automatic handling system passes through the coordinates of the interpolation points;

[0114] The second expression is:

[0115] θ1(t1)=a 10 +a 11 t1+a 12 t1 2 +a 13 t1 3

[0116] θ2(t2)=a 20 +a 21 t2+a 22 t2 2 +a 23 t2 3 +a 24 t2 4 +a 25 t2 5

[0117] θ3(t3)=a 30 +a 31 t3+a 32 t3 2 +a 33 t3 3

[0118] Among them, a 10 For the first coefficient in column 1 of the behavior established for the first segment of the motion trajectory, a is 0. 11 For the second coefficient of column 1, which is 1 for the first segment of the motion trajectory, a 12 For the third coefficient in the first segment of the motion trajectory, where row 1 is 2 and column 2 is 2, a 13 This refers to the fourth coefficient with row 1 and column 3 in the first segment of the motion trajectory; a 20 For the first coefficient in the second segment of the trajectory where row 2 is 0, a 21 For the second coefficient in the second segment of the motion trajectory, where row 2 and column 1 is 1, a 22 For the third coefficient with row 2 and column 2 in the second segment of the trajectory, a 23 For the fourth coefficient with row 2 and column 3 in the second segment of the trajectory, a 24 For the fifth coefficient with row 2 and column 4 in the second segment of the trajectory, a 25 For the sixth coefficient with row 2 and column 5 in the second segment of the trajectory, a 30 For the first coefficient in the third segment of the trajectory where column 3 is 0, a 30 For the first coefficient in the third segment of the trajectory where column 3 is 0, a 31 For the second coefficient in the third segment of the motion trajectory where row 3 and column 1 is 1, a 32 For the third coefficient with row 3 and column 2 in the third segment of the motion trajectory, a 33 The fourth coefficient is in column 3; θ1(t) is the rotation angle of a joint in the first trajectory segment as a function of time when it reaches the end of the first trajectory segment; θ2(t) is the rotation angle of a joint in the second trajectory segment as a function of time when it reaches the end of the second trajectory segment; θ3(t) is the rotation angle of a joint in the third trajectory segment as a function of time when it reaches the end of the third trajectory segment; t1 is the difference between the end time node and the start time node set when executing the first trajectory segment; t2 is the difference between the end time node and the start time node set when executing the second trajectory segment; t3 is the difference between the end time node and the start time node set when executing the third trajectory segment.

[0119] The second expression above is a function of time for the running angle of a certain joint in the three given motion trajectories, obtained by performing cubic, quintic, and cubic polynomial interpolation operations on the three trajectories respectively. The angle values ​​in the angle function are known and obtained through the first expression above.

[0120] It should be noted that, in this embodiment, coefficient a 10 a11 a 12 a 13 a 20 a 21 a 22 a 23 a 24 a 25 a 30 a 30 a 31 a 32 and a 33 It can be determined based on the given constraints θ and t.

[0121] Step G: Based on the second expression, with the goal of finding the shortest time required for the automated handling system to move to the target position, establish the fitness function described by the following third expression.

[0122] The third expression is:

[0123] Where f(t) is the fitness function of the k-th target joint, n is the number of joints whose trajectory parameters need to be constrained, and t k1 Let t be the time that the target joint with serial number k travels in the first segment of its motion trajectory. k2 Let t be the time that the target joint with serial number k travels in the second segment of the motion trajectory. k3 The time taken for the target joint with the number k to travel in the third motion trajectory is denoted as k, where k is the joint number.

[0124] The above formula can be used to obtain the angular displacement, angular velocity, and angular acceleration curves of each joint during the motion process. The angular displacement and angular velocity curves are then checked to ensure they are continuous and smooth and meet the boundary conditions, and the angular acceleration is continuous without abrupt changes, thereby verifying the rationality of the set time points.

[0125] Step H: Based on the following improved particle swarm optimization algorithm, under the condition of satisfying the determined boundary constraints, the above third expression is optimized and solved to obtain the shortest time required for the automatic handling system to move to the target position. Based on the obtained shortest time, the optimal motion parameters corresponding to each of the target joints are determined as the first motion trajectory parameters for representing the movement of the target object.

[0126] In the improved particle swarm optimization algorithm, the speed at which particles evolve from the λ-th iteration to the λ+1-th generation is updated as follows: (Fourth expression)

[0127]

[0128] As the particle evolves from the λth iteration to the λ+1th generation, its position is updated as shown in the fifth expression:

[0129] x i (λ+1)=x i (λ)+v i (λ+1)

[0130] Where w is the inertia weighting factor, c 1min c represents the minimum value of the individual learning factor. 1max N represents the maximum value of the individual learning factor. max Let c be the maximum number of iterations for the algorithm, λ be the current iteration number, and c be the maximum number of iterations for the algorithm. 2min c is the minimum value of the global learning factor. 2max w represents the maximum value of the global learning factor. max w represents the maximum value of the inertia weighting factor. min The minimum value of the inertia weight factor, where i is the particle index in the algorithm, and x... i (λ) represents the position of particle i in the λth iteration, x i (λ+1) represents the position of particle i in the (λ+1)th iteration, v i (λ) represents the velocity of particle i at the λth iteration, v i (λ+1) represents the velocity of particle i in the (λ+1)th iteration, and r1 and r2 are random values ​​taken from (0,1). i (t) represents the optimal position of particle i at the λth iteration, gbest i (t) represents the globally optimal position experienced by all particles in the particle swarm.

[0131] In traditional particle swarm optimization (PSO) algorithms, the values ​​of the inertia factor and learning factor are fixed. The choice of these fixed values ​​affects the convergence speed and solution accuracy of the PSO algorithm. Therefore, based on the traditional PSO algorithm, a learning factor and inertia weight function that adaptively changes with the number of iterations is established. In the early stage of the algorithm, a larger individual learning factor and inertia weight are assigned to give it a greater global search capability. In the later stage, the global learning capability of the particles is enhanced to make them move closer to the global optimum, while the proportion of inertia weight and individual learning factor is reduced to prevent particles from missing the global optimum due to excessively fast search speed.

[0132] In this embodiment, based on the obtained shortest time, the optimal motion parameters to be executed by each target joint when moving the target object to the target position are determined as the second motion trajectory parameters. This can be understood as determining the optimal motion parameters, namely angular velocity and angular acceleration, for each target joint when moving the target object to the target position based on the obtained shortest time. The reason for determining the optimal angular velocity and angular acceleration is that if the angular acceleration is too large, it will damage the motor, and if the angular acceleration is too small, it will prolong the running time. Based on this, from the starting point to the target position point, while ensuring that the angular velocity is large enough, the angular acceleration must also be within a reasonable range.

[0133] It should be noted that the second trajectory motion parameters can also be implemented in the same way as the above embodiments. Specifically, the first to fourth expressions can be used. Based on the improved particle swarm optimization algorithm, under the condition of satisfying the determined boundary constraints, the third expression is optimized and solved to obtain the shortest time required for the automatic handling system to move to the target object. Based on the obtained shortest time, the optimal motion parameters to be executed for each target joint to move the target object to the target position are determined as the second motion trajectory parameters.

[0134] Compared to the standard particle swarm optimization algorithm, the improved particle swarm optimization algorithm has fewer iterations and more accurate fitness values.

[0135] This concludes the description of the above embodiments.

[0136] See Figure 7 , Figure 7 An automatic handling device 700 provided in this embodiment is applied to the main control unit of a handling system. The handling system further includes a rotating platform, a robotic arm, a handling mechanism, and a positioner. The robotic arm includes a main arm and a secondary arm. One end of the main arm is rotatably mounted on the rotating platform, and the other end is rotatably connected to one end of the secondary arm. The other end of the secondary arm is rotatably connected to the handling mechanism, and the handling mechanism is equipped with a positioner. The automatic handling device includes:

[0137] The first location information acquisition unit 701 is used to acquire the first location information sent by the locator for collecting the location of the target object;

[0138] The pose information obtaining unit 702 is used to analyze the first position information to obtain the pose information of the target object.

[0139] The first motion trajectory parameter determination unit 703 is used to determine the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the transport mechanism, respectively, based on the pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the transport mechanism, and using the established motion model for the transport system.

[0140] The control and operation unit 704 is used to control the rotating platform, the main arm, the auxiliary arm and the conveying mechanism to operate according to their respective first motion trajectory parameters in order to convey the target object.

[0141] As one embodiment, after transporting the target object, the automated transport device further includes:

[0142] The second location information acquisition unit is used to acquire second location information collected by the locator, which indicates the desired location of the target object to be moved to the location to be moved.

[0143] The positioning information obtaining unit is used to analyze the second position information to obtain the positioning information of the location to be transported;

[0144] The target position handling unit is used to determine, based on the positioning information, the pose information of the rotating platform when lifting the target object, the pose information of the main arm when lifting the target object, the pose information of the auxiliary arm when lifting the target object, and the pose information of the handling mechanism when lifting the target object, and using an established motion model for this handling system, the second motion trajectory parameters to be executed by the rotating platform, the main arm, the auxiliary arm, and the handling mechanism respectively when handling the target object to the target position.

[0145] The instruction handling unit is used to instruct the rotating platform, the main arm, the auxiliary arm, and the handling mechanism to handle the target object to the target position according to the second motion trajectory parameters.

[0146] As one embodiment, the handling mechanism includes: a fork mast, two electric push rods, two guide rails, two sliders, two adapters, two mounting shafts, two forks, a rotating mechanism, and a first telescopic support mechanism; the fork mast is mounted on the end of the auxiliary boom and is equipped with the guide rails; each guide rail is equipped with its corresponding electric push rod and slider; each slider is connected to a mounting shaft via its corresponding adapter, and each mounting shaft is equipped with a corresponding fork; the electric push rods are connected to the main control unit to adjust the angle between the two forks by adjusting the height difference between the two electric push rods under the control of the main control unit; one end of the rotating mechanism is mounted on the end of the auxiliary boom, and the other end is connected to the fork mast, and the rotating mechanism is also connected to the main control unit; the actuating end of the first telescopic support mechanism is connected to the fork mast, and the input end is connected to a first set position of the auxiliary boom and connected to the main control unit;

[0147] The first motion trajectory parameter determination unit 703 is specifically used for:

[0148] Based on the pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the fork, the established motion model for this handling system is used to determine the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the fork, which represent the motion to be performed when handling the target object.

[0149] The control operation unit 704 is specifically used for:

[0150] The rotating platform, the main arm, and the auxiliary arm are controlled to move to the desired position for transporting the target object according to their respective first motion trajectory parameters;

[0151] The operation of the electric push rod and the first telescopic support mechanism is controlled so that the forks move according to the corresponding first motion trajectory parameters to transport the target object.

[0152] As one embodiment, the main boom includes a main boom body, a second telescopic support mechanism, and a main boom mounting bracket; one end of the main boom body is rotatably connected to the main boom mounting bracket, and the other end is rotatably connected to the end of the auxiliary boom, and the main boom body is also connected to the execution end of the second telescopic support mechanism at a second set position; the main boom mounting bracket is mounted on the rotating platform; the input end of the second telescopic support mechanism is fixedly mounted on the mounting bracket and is also connected to the main control electromechanical system;

[0153] The control unit 604 controls the rotating platform, the main arm, and the auxiliary arm to move to the desired position for the transportable target object according to their respective first motion trajectory parameters, including:

[0154] The rotating platform, the second telescopic support mechanism, and the auxiliary arm are controlled to move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for transporting the target object.

[0155] As one embodiment, the auxiliary boom includes an auxiliary boom body and a third telescopic support mechanism; one end of the auxiliary boom body is rotatably connected to the end of the main boom body, and the other end is rotatably connected to the fork mast through the rotating mechanism, and the auxiliary boom body is also connected to the execution end of the third telescopic support mechanism at a third set position; the input end of the third telescopic support mechanism is rotatably connected to the main boom body at a fourth set position, and is also connected to the main control electromechanical system;

[0156] The control of the rotating platform, the second telescopic support mechanism, and the auxiliary arm includes:

[0157] The rotating platform, the second telescopic support mechanism, and the third telescopic support mechanism are controlled to operate, so that the rotating platform, the main boom, and the auxiliary boom move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for the transportable target object.

[0158] As one embodiment, one end of the main boom is rotatably connected to one end of the auxiliary boom. The rotating platform includes a motor, a motor reducer, a gear shaft, a bearing, a shaft end flange, a slewing bearing fixing platform, a slewing bearing, a drive gear, and a main boom fixing table. The input end of the motor is connected to the main control electromechanical system, and the output end of the motor is equipped with the motor reducer. The gear shaft is mounted on the motor reducer. The bearing is sleeved on the gear shaft through the shaft end flange. The shaft end flange is mounted on the slewing bearing fixing platform. The slewing bearing is mounted on the slewing bearing fixing platform. The slewing bearing and the drive gear are fitted onto the gear shaft. The gear shaft is connected to the main boom through the main boom fixing table.

[0159] Controlling the operation of the rotating platform, the second telescopic support mechanism, and the third telescopic support mechanism includes:

[0160] The operation of the motor, the second telescopic support mechanism, and the third telescopic support mechanism is controlled so that the gear shaft, the main boom, and the auxiliary boom move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for transporting the target object.

[0161] As an embodiment, the main arm further includes a first rotating shaft, the auxiliary arm further includes a second rotating shaft, and the conveying mechanism further includes a third rotating shaft. One end of the main arm is rotatably connected to the main arm mounting bracket via the first rotating shaft, the auxiliary arm is rotatably connected to the other end of the main arm via the second rotating shaft, and the conveying mechanism is rotatably connected to the other end of the auxiliary arm via the third rotating shaft. Based on the position information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the conveying mechanism, and using an established motion model for this conveying system, the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the conveying mechanism, used to represent the first motion trajectory parameters to be executed when conveying the target object, are determined, including:

[0162] According to the following first expression, the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm and the conveying mechanism are determined to represent the first motion trajectory parameters to be executed when conveying the target object;

[0163] The first expression is:

[0164] θ1=arctan(l y / l x ); β3 = γ - β1; θ2 = β2 + β4 + β5; θ4=θ 234 -θ2-θ3;θ5=arctan(n x sinθ1-n y sinθ1) / (pxcosθ1-pycosθ1)

[0165] in, T Let be the pose transformation matrix of the fork front end positioning point relative to the robot arm's reference coordinate system. n x In the coordinate system of the front end of the fork x The x-axis component of the axis in the base coordinate system. n y In the coordinate system of the front end of the fork y The axis in the base coordinate system x Components of the axis, n z The z-axis of the fork tip in the coordinate system is in the base coordinate system. x Components of the axis, p x In the coordinate system of the front end of the fork x The axis in the base coordinate system y Components of the axis,p y In the coordinate system of the front end of the fork y The axis in the base coordinate system y Components of the axis, p z In the coordinate system of the front end of the fork z The axis in the base coordinate system z Components of the axis, a x In the coordinate system of the front end of the fork x The axis in the base coordinate system z Components of the axis, a y In the coordinate system of the front end of the fork y The z-axis component of the axis in the base coordinate system. a z In the coordinate system of the front end of the fork z The axis in the base coordinate system z Components of the axis, l x The origin of the coordinate system for the front end of the fork is in the base coordinate system. x Components of the axis, l y The origin of the coordinate system for the front end of the fork is in the base coordinate system. y Components of the axis, l z The origin of the coordinate system for the front end of the fork is in the base coordinate system. z-axis The amount, l 2 is the length between the center lines of the two rotation axes of the main arm. l 3 represents the length between the center lines of the two rotation axes of the auxiliary boom. l 4 is the equivalent connecting rod between the end-rotating shaft of the boom and the positioning point at the front end of the fork. d 1 is the length of the first line connecting the lower rotating shaft of the main boom and the end rotating shaft of the auxiliary boom. d 2 is the length of the second line connecting the lower rotating shaft of the main boom and the positioning point at the front end of the fork. β 1 is the angle between the second line and the vertical line drawn from the positioning point at the front end of the fork to the ground. β 2 is β The complementary angle of 1, β 3 is the equivalent link l The angle between line 4 and the second line. β 4 is the angle between the first and second lines. β 5 is the angle between the center lines of the two rotation axes of the main arm and the first connecting line. γ For equivalent link l 4. The angle between the fork and the vertical line drawn from the positioning point at the front end of the fork to the ground. θ 234 for θ 2 θ 3 and θ The sum of 4, θ 1 represents the rotation angle of the rotating platform's link coordinate system relative to the base coordinate system. θ 2 is the rotation angle of the main boom link coordinate system relative to the rotary platform link coordinate system. θ 3 represents the rotation angle of the secondary boom link coordinate system relative to the main boom link coordinate system. θ 4 represents the rotation angle of the gantry link coordinate system relative to the boom link coordinate system. θ 5 represents the coordinate system of the end fork relative to the equivalent link. l 4. Rotation angle of the coordinate system.

[0166] As an embodiment, after determining the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the conveying mechanism for representing the movement of the target object, the device further includes an optimization unit, which is used to:

[0167] Determine the two pre-defined interpolation points and the angle values ​​corresponding to each target joint calculated using the first expression;

[0168] For each interpolation point, the angular velocity value corresponding to each target joint point when passing through the interpolation point is calculated as a boundary constraint condition. The target joint includes the rotating platform, the main arm, the auxiliary arm, or the conveying mechanism.

[0169] Based on the angle value, the following second expression is established to obtain the angle function of each target joint in the three motion trajectories with respect to time in the polynomial interpolation operation, wherein the three motion trajectories are divided according to two interpolation points and the time node when the automatic handling system passes through the coordinates of the interpolation points;

[0170] The second expression is:

[0171] θ1(t1)=a 10 +a 11 t1+a 12 t1 2 +a 13 t1 3

[0172] θ2(t2)=a 20 +a 21 t2+a 22 t2 2 +a 23 t2 3 +a 24 t2 4 +a 25 t2 5

[0173] θ3(t3)=a 30 +a 31 t3+a 32 t3 2 +a 33 t3 3

[0174] Among them, a 10 For the first coefficient in column 1 of the behavior established for the first segment of the motion trajectory, a is 0. 11 For the second coefficient of column 1, which is 1 for the first segment of the motion trajectory, a 12 For the third coefficient in the first segment of the motion trajectory, where row 1 is 2 and column 2 is 2, a 13 This refers to the fourth coefficient with row 1 and column 3 in the first segment of the motion trajectory; a 20 For the first coefficient in the second segment of the trajectory where row 2 is 0, a 21 For the second coefficient in the second segment of the motion trajectory, where row 2 and column 1 is 1, a 22 For the third coefficient with row 2 and column 2 in the second segment of the trajectory, a 23 For the fourth coefficient with row 2 and column 3 in the second segment of the trajectory, a 24 For the fifth coefficient with row 2 and column 4 in the second segment of the trajectory, a 25 For the sixth coefficient with row 2 and column 5 in the second segment of the trajectory, a 30 For the first coefficient in the third segment of the trajectory where column 3 is 0, a 30 For the first coefficient in the third segment of the trajectory where column 3 is 0, a 31 For the second coefficient in the third segment of the motion trajectory where row 3 and column 1 is 1, a 32 For the third coefficient with row 3 and column 2 in the third segment of the motion trajectory, a 33 The fourth coefficient is in column 3; θ1(t) is the rotation angle of a joint in the first trajectory segment as a function of time when it reaches the end of the first trajectory segment; θ2(t) is the rotation angle of a joint in the second trajectory segment as a function of time when it reaches the end of the second trajectory segment; θ3(t) is the rotation angle of a joint in the third trajectory segment as a function of time when it reaches the end of the third trajectory segment; t1 is the difference between the end time node and the start time node set when executing the first trajectory segment; t2 is the difference between the end time node and the start time node set when executing the second trajectory segment; t3 is the difference between the end time node and the start time node set when executing the third trajectory segment.

[0175] Based on the second expression, with the goal of finding the shortest time required for the automatic handling system to move to the target position, a fitness function described by the following third expression is established;

[0176] The third expression is:

[0177] Where f(t) is the fitness function of the k-th target joint, n is the number of joints whose trajectory parameters need to be constrained, and t k1 Let t be the time that the target joint with serial number k travels in the first segment of its motion trajectory. k2 Let t be the time that the target joint with serial number k travels in the second segment of the motion trajectory. k3 The time taken by the target joint with serial number k in the third motion trajectory segment; where k is the joint serial number.

[0178] Based on the following improved particle swarm optimization algorithm, under the condition of satisfying the determined boundary constraints, the above third expression is optimized and solved to obtain the shortest time required for the automatic handling system to move to the target position. Based on the obtained shortest time, the optimal motion parameters to be executed by each of the target joints when moving the target object to the target position are determined as the second motion trajectory parameters.

[0179] In the improved particle swarm optimization algorithm, the speed at which particles evolve from the λ-th iteration to the λ+1-th generation is updated as follows: (Fourth expression)

[0180]

[0181] As the particle evolves from the λth iteration to the λ+1th generation, its position is updated as shown in the fifth expression:

[0182] x i (λ+1)=x i (λ)+v i (λ+1)

[0183] Where w is the inertia weighting factor, c 1min c represents the minimum value of the individual learning factor. 1max N represents the maximum value of the individual learning factor. max Let c be the maximum number of iterations for the algorithm, λ be the current iteration number, and c be the maximum number of iterations for the algorithm. 2min c is the minimum value of the global learning factor. 2max w represents the maximum value of the global learning factor. max w represents the maximum value of the inertia weighting factor. min The minimum value of the inertia weight factor, where i is the particle index in the algorithm, and x... i (λ) represents the position of particle i in the λth iteration, x i(λ+1) represents the position of particle i in the (λ+1)th iteration, v i (λ) represents the velocity of particle i at the λth iteration, v i (λ+1) represents the velocity of particle i in the (λ+1)th iteration, and r1 and r2 are random values ​​taken from (0,1). i (t) represents the optimal position of particle i at the λth iteration, gbest i (t) represents the globally optimal position experienced by all particles in the particle swarm.

[0184] As one embodiment, there are two second telescopic support mechanisms. The end of the execution end of each second telescopic support mechanism is provided with a sleeve that is installed in conjunction with the first rotating shaft. The first rotating shaft is located at a second set position on the main boom body. The sleeves of each second telescopic support mechanism as the execution end are respectively installed at both ends of the first rotating shaft. The rotating end of each second telescopic support mechanism is respectively installed on the main boom mounting bracket.

[0185] In another embodiment, the main boom further includes a fourth rotating shaft, the conveying mechanism includes a fifth rotating shaft and a rotating shaft mounting bracket, and there is one first telescopic support mechanism and one third telescopic support mechanism. The end of the execution end of the third telescopic support mechanism is provided with a sleeve that cooperates with the second rotating shaft. The fourth rotating shaft passes through the side wall of the main boom body and is located at a fourth predetermined position on the main boom body. The input end of the third telescopic support mechanism is sleeved on the fourth rotating shaft and placed inside the main boom body. The sleeve of the third telescopic support mechanism, as the execution end, is sleeved on the second rotating shaft and placed at a third predetermined position on the auxiliary boom. The rotating shaft mounting bracket is installed on the side wall of the auxiliary boom opposite to the second rotating shaft. The input end of the first telescopic support mechanism is sleeved on the fifth rotating shaft. The execution end of the first telescopic support mechanism is connected to the forklift mast.

[0186] This concludes the process. Figure 7 The diagram shows the structure of the device.

[0187] As can be seen from the above technical solutions, the automatic handling device provided in this application embodiment is used as the main controller of the handling system. The main controller analyzes the acquired first position information to obtain the pose information of the target object. Based on the pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the handling mechanism, and using the established motion model for this handling system, it determines the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the handling mechanism to be executed when handling the target object. Then, it controls the rotating platform, the main arm, the auxiliary arm, and the handling mechanism to operate according to their respective first motion trajectory parameters to achieve the handling of the target object. Therefore, the automatic handling mechanism provided in this embodiment does not require human intervention in handling, fully meeting the needs of automatic handling, and also avoiding the dangers of human intervention.

[0188] The specific implementation process of the functions and roles of each device in the above-mentioned apparatus can be found in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0189] The electronic device provided in this application, from a hardware perspective, can be found in the hardware architecture diagram. Figure 8 As shown, it includes a machine-readable storage medium and a processor, wherein: the machine-readable storage medium stores machine-executable instructions that can be executed by the processor; the processor is used to execute the machine-executable instructions to implement the automated handling operation disclosed in the above example.

[0190] The machine-readable storage medium provided in this application embodiment stores machine-executable instructions. When the machine-executable instructions are invoked and executed by a processor, the machine-executable instructions cause the processor to perform the automatic handling operation disclosed in the above example.

[0191] Here, a machine-readable storage medium can be any electronic, magnetic, optical, or other physical storage device that can contain or store information, such as executable instructions, data, etc. For example, a machine-readable storage medium can be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0192] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, which can take the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email sending and receiving device, game console, tablet computer, wearable device, or any combination of these devices.

[0193] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0194] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0195] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0196] Furthermore, these computer program instructions can also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in the process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0197] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0198] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0199] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An automated handling method, characterized in that, A main control unit is applied to a handling system. The handling system further includes a rotating platform, a robotic arm, a handling mechanism, and a vision locator. The robotic arm includes a main arm and a secondary arm. One end of the main arm is rotatably mounted on the rotating platform, and the other end is rotatably connected to one end of the secondary arm. The other end of the secondary arm is rotatably connected to the handling mechanism. The handling mechanism includes: a fork mast, two electric push rods, two guide rails, two sliders, two adapters, two mounting shafts, and two forks. The fork mast is mounted on the end of the secondary arm and has the guide rails installed on it. Each guide rail has its corresponding electric push rod and slider installed on it. Each slider is connected to a mounting shaft through its corresponding adapter, and each mounting shaft has a corresponding fork installed on it. The electric push rods are used to adjust the angle between the two corresponding forks by adjusting the height difference between the two electric push rods. The method includes: Obtain the first location information sent by the visual locator for collecting the location of the target object; The first position information is analyzed to obtain pose information representing the position and orientation of the target object; Based on the pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the fork, the motion model for this handling system is established based on the DH algorithm. The trajectory is optimized by using 3-5-3 piecewise polynomial interpolation combined with an improved adaptive particle swarm optimization algorithm. The first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the handling mechanism, which represent the motion to be performed when handling the target object, are obtained with the goal of minimizing the motion time. The rotating platform, main arm, auxiliary arm, and conveying mechanism are controlled to operate according to their respective first motion trajectory parameters, so as to control the two electric push rods to operate independently to adjust the fork angle, so that the forks match the position and posture of the target object and complete automatic gripping and conveying.

2. The automated handling method according to claim 1, characterized in that, After transporting the target object, the process further includes: Acquire second location information collected by the visual locator, which indicates the desired location to be moved; The second location information is analyzed to obtain the positioning information of the location to be moved; Based on the positioning information, the pose information of the rotating platform when it lifts the target object, the pose information of the main arm when it lifts the target object, the pose information of the auxiliary arm when it lifts the target object, and the pose information of the conveying mechanism when it lifts the target object, the second motion trajectory parameters to be executed by the rotating platform, the main arm, the auxiliary arm, and the conveying mechanism respectively when they are used to move the target object to the target position are determined using the established motion model for this conveying system. The rotating platform, the main arm, the auxiliary arm, and the transport mechanism are instructed to transport the target object to the target location according to the second motion trajectory parameters.

3. The automated handling method according to claim 2, characterized in that, The handling mechanism further includes a rotating mechanism and a first telescopic support mechanism; one end of the rotating mechanism is installed at the end of the auxiliary boom, and the other end is connected to the fork mast; the rotating mechanism is also connected to the main control electromechanical system; the actuating end of the first telescopic support mechanism is connected to the fork mast, the input end is connected to the first set position of the auxiliary boom, and is connected to the main control electromechanical system. The control of the rotating platform, the main arm, the auxiliary arm, and the conveying mechanism to operate according to their respective first motion trajectory parameters includes: The rotating platform, the main arm, and the auxiliary arm are controlled to move to the desired position for transporting the target object according to their respective first motion trajectory parameters; The operation of the electric push rod and the first telescopic support mechanism is controlled so that the forks move according to the corresponding first motion trajectory parameters.

4. The automated handling method according to claim 3, characterized in that, The main boom includes a main boom body, a second telescopic support mechanism, and a main boom mounting bracket; one end of the main boom body is rotatably connected to the main boom mounting bracket, and the other end is rotatably connected to the end of the auxiliary boom, and the main boom body is also connected to the execution end of the second telescopic support mechanism at a second set position; the main boom mounting bracket is mounted on the rotating platform; the input end of the second telescopic support mechanism is fixedly mounted on the main boom mounting bracket and is also connected to the main control electromechanical system; The control of the rotating platform, the main arm, and the auxiliary arm to move to the desired position for the transportable target object according to their respective first motion trajectory parameters includes: The rotating platform, the second telescopic support mechanism, and the auxiliary arm are controlled to move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for transporting the target object.

5. The automated handling method according to claim 4, characterized in that, The auxiliary boom includes an auxiliary boom body and a third telescopic support mechanism; one end of the auxiliary boom body is rotatably connected to the end of the main boom body, and the other end is rotatably connected to the fork mast through the rotating mechanism, and the auxiliary boom body is also connected to the execution end of the third telescopic support mechanism at a third set position; the input end of the third telescopic support mechanism is rotatably connected to the main boom body at a fourth set position, and is also connected to the main control electromechanical system; The control of the rotating platform, the second telescopic support mechanism, and the auxiliary arm includes: The rotating platform, the second telescopic support mechanism, and the third telescopic support mechanism are controlled to operate, so that the rotating platform, the main boom, and the auxiliary boom move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for the transportable target object.

6. The automated handling method according to claim 5, characterized in that, The end of the main boom is rotatably connected to one end of the auxiliary boom. The rotating platform includes a motor, a motor reducer, a gear shaft, a bearing, a shaft end flange, a slewing bearing fixing platform, a slewing bearing, a drive gear, and a main boom fixing table. The input end of the motor is connected to the main control electromechanical system, and the output end of the motor is equipped with the motor reducer. The gear shaft is mounted on the motor reducer. The bearing is sleeved on the gear shaft through the shaft end flange. The shaft end flange is mounted on the slewing bearing fixing platform. The slewing bearing is mounted on the slewing bearing fixing platform. The slewing bearing and the drive gear are fitted onto the gear shaft. The gear shaft is connected to the main boom through the main boom fixing table. Controlling the operation of the rotating platform, the second telescopic support mechanism, and the third telescopic support mechanism includes: The operation of the motor, the second telescopic support mechanism, and the third telescopic support mechanism is controlled so that the gear shaft, the main boom, and the auxiliary boom move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for transporting the target object.

7. The automated handling method according to claim 6, characterized in that, The main boom further includes a first rotating shaft, the auxiliary boom further includes a second rotating shaft, and the handling mechanism further includes a third rotating shaft. One end of the main boom body is rotatably connected to the main boom mounting bracket via the first rotating shaft. The auxiliary boom is rotatably connected to the other end of the main boom body via the second rotating shaft. The handling mechanism is rotatably connected to the other end of the auxiliary boom body via the third rotating shaft. Based on the pose information, the current pose information of the rotating platform, the current pose information of the main boom, the current pose information of the auxiliary boom, and the current pose information of the fork, a motion model for this handling system is established using the DH algorithm. Trajectory optimization is performed using 3-5-3 piecewise polynomial interpolation combined with an improved adaptive particle swarm optimization algorithm. The first motion trajectory parameters corresponding to the rotating platform, the main boom, the auxiliary boom, and the handling mechanism, representing the motion of the target object, are obtained with the goal of minimizing the motion time. These parameters include: Determine the two pre-defined interpolation points and the angle values ​​corresponding to each target joint calculated using the first expression; The first expression is: ； in, T Let be the pose transformation matrix of the fork front end positioning point relative to the robot arm's reference coordinate system. n x Let n be the x-axis component of the fork front end coordinate system in the base coordinate system. y Let x be the component of the y-axis in the coordinate system of the fork front end and the x-axis in the base coordinate system. n z Let z be the z-axis component of the fork tip in the coordinate system and x-axis component in the base coordinate system. P x Let x be the x-axis component in the coordinate system of the fork front end, and y be the y-axis component in the base coordinate system. P y Let be the y-axis component of the fork front end coordinate system in the base coordinate system. P z Let z be the z-axis component of the fork front end coordinate system in the base coordinate system. a x Let x be the x-axis component of the fork front end coordinate system and z-axis component of the base coordinate system. a y Let be the component of the y-axis in the coordinate system of the fork front end and the z-axis in the base coordinate system. a z Let z be the z-axis component of the fork front end coordinate system in the base coordinate system. l x Let x be the x-component of the coordinate system origin at the front end of the fork in the base coordinate system. l y Let be the y-component of the coordinate system origin at the front end of the fork in the base coordinate system. l z Let z be the z-axis component of the coordinate system origin at the front end of the fork in the base coordinate system. l 2 is the length between the center lines of the two rotation axes of the main arm. l 3 represents the length between the center lines of the two rotation axes of the auxiliary boom. l 4 is the equivalent connecting rod between the end-rotating shaft of the boom and the positioning point at the front end of the fork. d 1 is the length of the first line connecting the lower rotating shaft of the main boom and the end rotating shaft of the auxiliary boom. d 2 is the length of the second line connecting the lower rotation axis of the main boom and the positioning point at the front end of the fork; β1 is the angle between the second line and the vertical line drawn from the positioning point at the front end of the fork to the ground; β2 is the complementary angle of β1; and β3 is the angle between the second line and the equivalent connecting rod. l The angle between β4 and β5 is the angle between the center lines of the two rotation axes of the main arm and the first connecting line. Υ is the equivalent connecting rod. l 4. The angle between the fork and the vertical line drawn from the positioning point at the front end of the fork to the ground. θ 234 for θ 2. θ 3. θ The sum of 4, θ 1 represents the rotation angle of the rotating platform's link coordinate system relative to the base coordinate system. θ 2 is the rotation angle of the main boom link coordinate system relative to the rotary platform link coordinate system. θ 3 represents the rotation angle of the secondary boom link coordinate system relative to the main boom link coordinate system. θ 4 represents the rotation angle of the gantry link coordinate system relative to the boom link coordinate system. θ 5 represents the coordinate system of the end fork relative to the connecting rod. l 4. Rotation angle of the coordinate system; For each interpolation point, the angular velocity value corresponding to each target joint point when passing through the interpolation point is calculated as a boundary constraint condition. The target joint includes the rotating platform, the main arm, the auxiliary arm, or the conveying mechanism. Based on the angle value, the following second expression is established to obtain the angle function of each target joint in the three motion trajectories with respect to time in the polynomial interpolation operation, wherein the three motion trajectories are divided according to two interpolation points and the time node when the automatic handling system passes through the coordinates of the interpolation points; The second expression is: ； in, a 10 The first coefficient in column 1, which is 0, is used to define the behavior of the first segment of the motion trajectory. a 11 For the second coefficient in column 1 of the first segment of the motion trajectory, which is 1, a 12 For the third coefficient in the first segment of the motion trajectory, where row 1 is 2 and column 2 is 2, a 13 This refers to the fourth coefficient with row 1 and column 3 in the first segment of the motion trajectory; a 20 For the first coefficient in the second segment of the motion trajectory, where column 2 is 0, a 21 For the second coefficient in the second segment of the motion trajectory, where row 2 and column 1 are both 1, a 22 For the third coefficient in the second segment of the motion trajectory, where row 2 and column 2 is 2, a 23 For the fourth coefficient with row 2 and column 3 in the second segment of the motion trajectory, a 24 For the fifth coefficient with row 2 and column 4 in the second segment of the motion trajectory, a 25 For the sixth coefficient with row 2 and column 5 in the second segment of the motion trajectory, a 30 For the first coefficient in column 3 of the third motion trajectory that is 0, a 31 For the second coefficient in the third segment of the motion trajectory, where column 3 is 1, a 32 For the third coefficient in the third segment of the motion trajectory, where row 3 and column 2 is the third coefficient, a 33 The fourth coefficient of column 3 is in row 3; θ 1(t) is a function of time representing the rotation angle that a joint needs to perform to reach the end of the first trajectory segment. θ 2(t) is a function of time for the rotation angle that a certain joint needs to perform to reach the end of the second trajectory segment. θ 3(t) is a function of time for the rotation angle that a joint needs to perform to reach the end of the third segment of the trajectory. t 1 represents the difference between the end time node and the start time node set when executing the first trajectory segment; t 2 represents the difference between the end time node and the start time node set when executing the second trajectory segment; t 3 represents the difference between the end time node and the start time node set when executing the third segment of the trajectory; Based on the second expression, with the goal of finding the shortest time required for the automatic handling system to move to the target position, a fitness function described by the following third expression is established; The third expression is: ； in, f (t) is the th k The optimal fitness function for each target joint. n The number of joints for which trajectory parameters need to be constrained. t k1 Let k be the time that the target joint with serial number k travels in the first segment of its motion trajectory. t k2 Let k be the time that the target joint with serial number k travels in the second segment of the motion trajectory. t k3 Let k be the time taken for the target joint with serial number k to travel in the third segment of its motion trajectory. k Joint number; Based on the following improved particle swarm optimization algorithm, under the condition of satisfying the determined boundary constraints, the above third expression is optimized and solved to obtain the shortest time required for the automatic handling system to move to the target position. Based on the obtained shortest time, the optimal motion parameters corresponding to each of the target joints are determined as the first motion trajectory parameters for representing the movement of the target object. In the improved particle swarm optimization algorithm, the speed at which particles evolve from the λ-th iteration to the λ+1-th generation is updated as follows: (Fourth expression) ； As the particle evolves from the λth iteration to the λ+1th generation, its position is updated as shown in the fifth expression: ； in, W As the inertia weighting factor, C 1min For the minimum value of the individual learning factor, C 1max The maximum value of the individual learning factor. N max λ represents the maximum number of iterations for the algorithm, and λ represents the current iteration number. C 2min This represents the minimum value of the global learning factor. C 2max This represents the maximum value of the global learning factor. W max This represents the maximum value of the inertia weighting factor. W min This represents the minimum value of the inertia weighting factor. i This represents the particle's index in the algorithm. x i (λ) represents the position of particle i in the λth iteration. x i (λ+1) represents the position of particle i in the (λ+1)th iteration. v i (λ) represents the velocity of particle i in the λth iteration. v i (λ+1) represents the velocity of particle i in the (λ+1)th iteration. r 1. r 2 represents a random value from (0,1). Pbest i (t) represents the optimal position of particle i at the λth iteration. gbest i (t) represents the globally optimal position experienced by all particles in the particle swarm.

8. An automatic conveying device, characterized in that, A main control unit is applied to a handling system. The handling system further includes a rotating platform, a robotic arm, a handling mechanism, and a vision locator. The robotic arm includes a main arm and a secondary arm. One end of the main arm is rotatably mounted on the rotating platform, and the other end is rotatably connected to one end of the secondary arm. The other end of the secondary arm is rotatably connected to the handling mechanism. The handling mechanism includes: a fork mast, two electric push rods, two guide rails, two sliders, two adapters, two mounting shafts, and two forks. The fork mast is mounted on the end of the secondary arm and has the guide rails installed on it. Each guide rail has its corresponding electric push rod and slider installed on it. Each slider is connected to a mounting shaft via its corresponding adapter, and each mounting shaft has a corresponding fork installed on it. The electric push rods are used to adjust the angle between the two corresponding forks by adjusting the height difference between the two electric push rods. This automatic handling device includes: The first location information acquisition unit is used to acquire the first location information sent by the visual locator for collecting the location of the target object; The pose information obtaining unit is used to analyze the first position information to obtain the pose information of the target object's position and orientation. The first motion trajectory parameter determination unit is used to determine the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the fork based on the pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the fork, using the motion model for this handling system established based on the DH algorithm, and employing 3-5-3 piecewise polynomial interpolation combined with an improved adaptive particle swarm optimization algorithm to optimize the trajectory, with the goal of minimizing the motion time, to obtain the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the handling mechanism for representing the first motion trajectory parameters to be executed when handling the target object. The control and operation unit is used to control the rotating platform, the main arm, the auxiliary arm and the conveying mechanism to operate according to their respective first motion trajectory parameters, so as to control the two electric push rods to operate independently to adjust the fork angle, so that the forks match the position and posture of the target object and complete automatic gripping and conveying.

9. An electronic device, characterized in that, The device includes a processor and a machine-readable storage medium storing machine-executable instructions that can be executed by the processor; the processor is configured to execute the machine-executable instructions to implement the steps of the automated handling method according to any one of claims 1 to 7.

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