A three-axis motion control system and method

Abstract

The present invention discloses a three-axis motion control system and method, including: a data acquisition module, a data analysis and processing module, a device control module and a data storage module; wherein the data acquisition module is used to collect target object information, and transmit the collected target object information to the data storage module for storage. The three-axis motion control system and method determines the position of the installation shell by determining the central area of ​​the target object, and controls the clamping plates on both sides to be at different heights to prevent the target object from tipping over during the clamping process, and controls the rotation of the adjustment mechanism at different positions to achieve more uniform force on both sides when the target object is lifted, and can control the adjustment mechanism on one side of the position separately to control the fit tightness between the adjustment mechanism and the target object, so that the adjustment mechanisms at different heights on one side are more uniformly stressed, effectively avoiding the bag body of the target object from being damaged due to greater force at a certain place.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage removal, and in particular to a three-axis motion control system and method. Background Art

[0002] Garbage is solid or fluid material that is not needed or useful. In densely populated cities, garbage disposal is a headache. Garbage can be divided into recyclable garbage and non-recyclable garbage. When dealing with garbage, it is necessary to collect and transport the garbage for centralized treatment;

[0003] When transporting recyclable garbage placed in packaging bags, a three-axis motion platform is used to move the garbage in the packaging bags to a designated location. The packaging bags containing the garbage are mostly made of soft nylon, and the bag openings of the packaging bags are often skewed, which brings certain inconveniences to the clamping and transportation of the packaging bags containing the garbage.

[0004] In response to existing problems, it is urgent to innovate on the original basis. Summary of the invention

[0005] The object of the present invention is to provide a three-axis motion control system and method to solve the problem raised in the above background technology that when some recyclable garbage placed in packaging bags are transported, a three-axis motion platform is used to move the garbage in the packaging bags to a designated location. The packaging bags containing the garbage are mostly made of soft nylon material, and the bag openings of the packaging bags are often skewed, which brings certain inconveniences to the clamping and transportation of the packaging bags containing the garbage.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a three-axis motion control system and method, comprising: a data acquisition module, a data analysis and processing module, a device control module and a data storage module;

[0007] The data acquisition module is used to collect target object information and transmit the collected target object information to the data storage module for storage;

[0008] The data analysis module obtains the target object information in the data storage module, integrates the obtained target object information, and outputs the target object end state information;

[0009] The device control module controls the three-axis device to execute the target object clamping strategy according to the end state information of the target object.

[0010] As an optional solution of the three-axis motion control system and method of the present invention, the target object information includes: target object position information, target object center information and target object end state information;

[0011] The target object position information and target object end state information are obtained by the following steps:

[0012] The location information of the target object is obtained by using a ranging device;

[0013] Controlling the appearance acquisition device to acquire the appearance information of the target object according to the position information of the target object;

[0014] By integrating the appearance information of the target object obtained by the appearance acquisition device, a three-dimensional model of the target object is produced;

[0015] According to the three-dimensional model of the target object, the end state information of the target object is obtained.

[0016] As an optional solution of the three-axis motion control system and method of the present invention, the acquisition of the target object center information includes:

[0017] Obtain the location information of the target object;

[0018] Control the projection device to move to the area above the target object according to the position information of the target object;

[0019] Projecting the target object using a projection device, acquiring projection information of the target object using an appearance acquisition device, and storing the acquired projection information in a data storage module;

[0020] The projection information is acquired through the data analysis module, and the center position of the target object is calculated and output.

[0021] As an optional solution of the three-axis motion control system and method of the present invention, the calculation of the target object center position information includes:

[0022] Obtaining projection information of the target object and a three-dimensional model of the target object, and drawing a plurality of diagonal lines in the projection information of the target object;

[0023] Select the blank area enclosed by the diagonal line in the middle of the projection of the target object as the central area;

[0024] According to the three-dimensional model of the target object, several vertical lines are drawn in the three-dimensional model of the target object, and the vertical line with the longest distance is selected and named H. H is the maximum height of the three-dimensional model of the target object, and H / 2 is the center height of the target object. H / 2 is integrated with the center area position information to determine the center position of the target object.

[0025] As an optional solution of the three-axis motion control system and method of the present invention, wherein: the end state information of the target object and the center position information of the target object are obtained;

[0026] The center position information of the object is transmitted to the device control module, and the first driving module and the second driving module are controlled by the device control module to move on the mounting module and the first slide rail module respectively, so that the mounting housing moves to above the center position of the object, and the driving motor is controlled to move to adjust the distance between the two clamping plates to the maximum position;

[0027] The inclination of the end of the target object is determined by the state information of the end of the target object, and the mounting housing is rotated and adjusted according to the inclination of the end of the target object so that the driving motor on the mounting housing and the inclination direction of the end of the target object are kept in the same direction;

[0028] Controlling a clamping plate on one side of the drive motor mounted on the housing to move downward to the height of the center position of the target object, and performing collision detection in advance when the clamping plate moves downward;

[0029] Control the clamping plate on the side away from the drive motor to move downward to

[0030] The driving motor is controlled to bring the clamping plates on both sides closer to execute the clamping strategy for the target object.

[0031] As an optional solution of the three-axis motion control system and method of the present invention, wherein: collision detection includes;

[0032] S1. Obtain the position information of the clamping plate on the side close to the drive motor and the clamping plate on the side away from the drive motor, and name the obtained position information as X and Y;

[0033] S2. Control the movement of the ranging device according to the X position information, and make the ranging device position information coincide with the X position information;

[0034] S3. Measure the distance of the target object by the ranging device, set the distance between the ranging device and the target object to h1, and perform h1 and the center height value determination of the target object;

[0035] If the h1 value is less than the center height value of the target object, the mounting housing is moved along the driving motor direction to compensate for the spacing length, and the above steps S1-S3 are executed again until the h1 value is greater than or equal to the center height value of the target object;

[0036] If the h1 value is greater than or equal to the center height value of the target object, move the ranging device to match the Y position information;

[0037] The distance between the distance measuring device and the target object is measured by the distance measuring device, and the distance between the distance measuring device and the target object is set to h2. Numerical determination;

[0038] When h2 value is less than When the h2 value is greater than or equal to , move the mounting housing in the opposite direction of the drive motor to compensate for the spacing length, and re-execute the above steps S1-S3 until the h2 value is greater than or equal to Numeric value;

[0039] When the h2 value is greater than or equal to When the value is set, the target object is executed normally to perform the clamping strategy.

[0040] As an optional solution of the three-axis motion control system and method of the present invention, the target object clamping strategy includes:

[0041] Control the driving motor to drive the clamping plates on both sides of the bottom of the mounting shell to move closer to each other to clamp the target object;

[0042] When the clamping plate near the driving motor moves, the first hydraulic module above the clamping plate is controlled to move, and finally the clamping plate moves to high;

[0043] When the clamping plate on the side close to the driving motor and the clamping plate on the side far from the driving motor are at the same level, the first hydraulic modules on the clamping plates on both sides are controlled to move upwards at the same time;

[0044] The total pull-down values ​​of the adjustment mechanisms on the clamping plates on both sides are detected respectively, and the total pull-down value of the adjustment mechanism close to the drive motor is named N1, and the total pull-down value of the adjustment mechanism far from the drive motor is named N2;

[0045] Based on N1 and N2, target object adjustment determination is performed.

[0046] As an optional solution of the three-axis motion control system and method of the present invention, the target object adjustment determination includes:

[0047] Get the values ​​of N1 and N2, and compare the values ​​of N1 and N2;

[0048] If the value of N1 is greater than the value of N2, the adjustment mechanism on the side away from the drive motor is controlled to move clockwise, and the values ​​of N1 and N2 are continuously obtained until the value of A falls within the judgment threshold;

[0049] If the value of N1 is less than the value of N2, the adjustment mechanism close to the driving motor is controlled to move counterclockwise, and the values ​​of N1 and N2 are continuously obtained until the value of A falls within the judgment threshold;

[0050] in,

[0051] When the value of A falls within the determination threshold, the values ​​of N1.1 and N1.2 on the adjustment mechanism close to the drive motor are obtained, where N1.1 and N1.2 are the adjustment mechanism located above the drive motor and the adjustment mechanism located below the drive motor, respectively;

[0052] And calculate the numerical values ​​of N1.1 and N1.2;

[0053] If the value of N1.1 is greater than the value of N1.2, the second hydraulic module on N1.2 is controlled to drive the adjustment mechanism closer to the target object, and the values ​​of N1.1 and N1.2 are continuously obtained until the value of A1 falls within the determination threshold;

[0054] If the value of N1.1 is less than the value of N1.2, the second hydraulic module on N1.1 is controlled to drive the adjustment mechanism to approach the target object, and the values ​​of N1.1 and N1.2 are continuously obtained until the value of A1 falls within the determination threshold;

[0055] in,

[0056] When the value of A falls within the determination threshold, the values ​​of N2.1 and N2.2 on the adjustment mechanism on the side away from the drive motor are obtained, where N2.1 and N2.2 are the adjustment mechanism located above the drive motor and below the drive motor, respectively;

[0057] And calculate the numerical values ​​of N2.1 and N2.2;

[0058] If the value of N2.1 is greater than the value of N2.2, the second hydraulic module on N2.2 is controlled to drive the adjustment mechanism closer to the target object, and the values ​​of N2.1 and N2.2 are continuously obtained until the value of A1 falls within the determination threshold;

[0059] If the value of N2.1 is less than the value of N2.2, the second hydraulic module on N2.1 is controlled to drive the adjustment mechanism to approach the target object, and the values ​​of N1.1 and N1.2 are continuously obtained until the value of A2 falls within the determination threshold;

[0060] in,

[0061] As an optional solution of the three-axis motion control system and method of the present invention, wherein:

[0062] Step 1: First, by controlling the movement of the first driving module on the installation module, the lateral distance of the first slide rail module installed on the first driving module is adjusted;

[0063] Step 2: Controlling the movement of the second driving module provided on the first slide rail module to adjust the longitudinal distance of the second slide rail module installed at the bottom of the second driving module;

[0064] Step 3: Control the driving motor installed on the mounting housing to move, drive the rotating screw located inside the mounting housing, and drive the first hydraulic module located outside the rotating screw to move, and adjust the distance between the clamping plates provided at the ends of the first hydraulic modules on both sides to clamp the target object;

[0065] The mounting shell is arranged at the end of the second slide rail module, and a rotating mechanism for adjusting the rotation angle of the mounting shell is arranged between the mounting shell and the second slide rail module;

[0066] Step three: by controlling the movement of the first hydraulic module, the height of the clamping plate installed at the bottom of the first hydraulic module is adjusted; an adjusting mechanism for adjusting the clamping position of the target object is provided on the inner side of the clamping plate; a second hydraulic module for controlling the fitting force between the adjusting mechanism and the target object is installed on the adjusting mechanism.

[0067] As an optional solution of the three-axis motion control system and method of the present invention, it includes:

[0068] processor;

[0069] a memory for storing processor-executable instructions;

[0070] Wherein, the processor is configured to implement the three-axis motion control system when executing the executable instructions.

[0071] Compared with the prior art, the present invention has the following beneficial effects:

[0072] 1. A three-axis motion control system and method determines the position of the installation shell by judging the central area of ​​the target object, and controls the clamping plates on both sides to be at different heights to prevent the target object from tipping over during the clamping process. By controlling the rotation of the adjustment mechanisms at different positions, the force on both sides is more uniform when the target object is lifted. The adjustment mechanisms on one side can be controlled separately to control the fit between the adjustment mechanisms and the target object, so that the adjustment mechanisms at different heights on one side are more evenly stressed, effectively avoiding the bag body of the target object being damaged due to greater force at one place. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 It is a schematic diagram of the three-axis control process of the present invention;

[0074] Figure 2 It is a schematic diagram of the structure of the three-axis platform of the present invention;

[0075] Figure 3 It is a structural schematic diagram of the second driving module and the second slide rail module of the present invention;

[0076] Figure 4 It is a structural schematic diagram of the rotating screw rod and the first hydraulic module of the present invention;

[0077] Figure 5 It is a schematic diagram of the structure of the adjustment mechanism and the clamping plate of the present invention;

[0078] Figure 6 It is a schematic diagram of the center of gravity area of ​​the present invention;

[0079] Figure 7 It is a schematic diagram of the end inclination of the target object of the present invention.

[0080] In the figure: 1. Installation module; 2. First drive module; 3. First slide rail module; 4. Second drive module; 5. Second slide rail module; 6. Installation shell; 7. Drive motor; 8. Rotating screw; 9. First hydraulic module; 10. Clamping plate; 11. Adjustment mechanism; 12. Second hydraulic mechanism. DETAILED DESCRIPTION

[0081] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0082] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0083] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0084] Example 1

[0085] For this example, please refer to Figures 1 to 7 ,The present invention provides a technical solution: a three-axis motion control system and method, including: a data acquisition module, a data analysis and processing module, a device control module and a data storage module;

[0086] The data acquisition module is used to collect target object information and transmit the collected target object information to the data storage module for storage;

[0087] The data analysis module obtains the target object information in the data storage module, integrates the obtained target object information, and outputs the target object end state information;

[0088] The device control module controls the three-axis device to execute the target object clamping strategy according to the end state information of the target object;

[0089] The target object information includes: target object position information, target object center information and target object end state information;

[0090] The target object position information and target object end state information are obtained by the following steps:

[0091] The location information of the target object is obtained by using a ranging device;

[0092] Controlling the appearance acquisition device to acquire the appearance information of the target object according to the position information of the target object;

[0093] By integrating the appearance information of the target object obtained by the appearance acquisition device, a three-dimensional model of the target object is produced;

[0094] According to the three-dimensional model of the target object, the end state information of the target object is obtained;

[0095] The acquisition of target object center information includes:

[0096] Obtain the location information of the target object;

[0097] Control the projection device to move to the area above the target object according to the position information of the target object;

[0098] Projecting the target object using a projection device, acquiring projection information of the target object using an appearance acquisition device, and storing the acquired projection information in a data storage module;

[0099] The projection information is acquired through the data analysis module, and the center position of the target object is calculated and output;

[0100] The distance measuring device can be a distance sensor, and the distance sensor is used to obtain the position of the target object. The three-axis device includes an installation module 1, a first drive module 2, a first slide rail module 3, a second drive module 4 and a first hydraulic module 9. The lateral distance adjustment is achieved by controlling the first drive module 2, the longitudinal distance adjustment is achieved by controlling the second drive module 4, and the height adjustment is achieved by controlling the first hydraulic module 9. It should be noted that the first drive module 2 and the second drive module 4 can use a drive motor as a drive source in the prior art to control the first drive module 2 to move on the installation module 1 and control the second drive module 4 to move on the first slide rail module 3. Those skilled in the art can select according to actual needs, and the selection can achieve lateral distance and longitudinal distance adjustment.

[0101] The calculation of the target object center position information includes:

[0102] Obtaining projection information of the target object and a three-dimensional model of the target object, and drawing a plurality of diagonal lines in the projection information of the target object;

[0103] Select the blank area enclosed by the diagonal line in the middle of the projection of the target object as the central area;

[0104] According to the three-dimensional model of the target object, several vertical lines are drawn in the three-dimensional model of the target object, and the vertical line with the longest distance is selected and named H, where H is the maximum height of the three-dimensional model of the target object, and H / 2 is the center height of the target object. H / 2 is integrated with the center area position information to determine the center position of the target object;

[0105] The projection device may be a light-emitting device, and the projection device is placed above the target object, and the target object device is illuminated by the light emitted by the projection device, and the area of ​​the target object projected on the ground is photographed and collected using a shooting device on the projection device, which is the projection information of the target object;

[0106] According to the target projection information, several diagonal lines are drawn to determine the central area, and the maximum height of the target object is determined according to the three-dimensional model of the target object. The central area and the maximum height of the target object are determined, and then the center position of the target object is calculated, so as to facilitate clamping the target object according to the center position and avoid accidental tipping during the clamping process of the target object.

[0107] Each unit or each step of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0108] Example 2

[0109] For this example, please refer to Figures 1 to 7 , obtain the end state information of the target object and the center position information of the target object;

[0110] The object center position information is transmitted to the device control module, and the device control module controls the first driving module 2 and the second driving module 4 to move on the mounting module 1 and the first slide rail module 3 respectively, so that the mounting housing 6 moves to above the object center position, and controls the driving motor 7 to move, so as to adjust the distance between the two clamping plates 10 to the maximum position;

[0111] The inclination of the end of the target object is determined by the state information of the end of the target object, and the mounting housing 6 is rotated and adjusted according to the inclination of the end of the target object, so that the driving motor 7 on the mounting housing 6 and the inclination direction of the end of the target object are kept in the same direction;

[0112] Control the clamping plate 10 near the side of the driving motor 7 on the mounting housing 6 to move downward to the height of the center position of the target object, and perform collision detection in advance when the clamping plate 10 moves downward;

[0113] Control the clamping plate 10 away from the driving motor 7 to move downward to

[0114] and controlling the driving motor 7 to bring the clamping plates 10 on both sides closer to execute the clamping strategy on the target object;

[0115] Collision detection includes;

[0116] S1. respectively obtain the position information of the clamping plate 10 on the side close to the drive motor 7 and the clamping plate 10 on the side away from the drive motor 7, and name the obtained position information as X and Y;

[0117] S2. Control the movement of the ranging device according to the X position information, and make the ranging device position information coincide with the X position information;

[0118] S3. Measure the distance of the target object by the ranging device, set the distance between the ranging device and the target object to h1, and determine the height value of h1 and the center of the target object;

[0119] If the h1 value is less than the center height value of the target object, the mounting housing 6 is moved along the direction of the drive motor 7 to compensate for the spacing length, and the above steps S1-S3 are executed again until the h1 value is greater than or equal to the center height value of the target object;

[0120] If the h1 value is greater than or equal to the center height of the target object, move the distance measuring device to match the Y position information;

[0121] The distance between the distance measuring device and the target object is measured by the distance measuring device, and the distance between the distance measuring device and the target object is set to h2. Numerical determination;

[0122] When h2 value is less than When the value of h2 is greater than or equal to , the mounting housing 6 moves in the opposite direction along the driving motor 7 to compensate for the spacing length, and the above steps S1-S3 are executed again until the value of h2 is greater than or equal to Numeric value;

[0123] When the h2 value is greater than or equal to When the value is set, the target object will be executed normally to execute the clamping strategy;

[0124] Target object gripping strategies include:

[0125] Control the driving motor 7 to drive the clamping plates 10 on both sides of the bottom of the mounting shell 6 to move closer to each other to clamp the target object;

[0126] When the clamping plate 10 near the driving motor 7 moves, the first hydraulic module 9 above the clamping plate 10 is controlled to move, and finally the clamping plate 10 moves to high;

[0127] When the clamping plate 10 on the side close to the driving motor 7 and the clamping plate 10 on the side far from the driving motor 7 are at the same level, the first hydraulic modules 9 on the clamping plates 10 on both sides are controlled to move upwards at the same time;

[0128] The total pull-down values ​​of the adjustment mechanisms 11 on the clamping plates 10 on both sides are detected respectively, and the total pull-down value of the adjustment mechanism 11 close to the drive motor 7 is named N1, and the total pull-down value of the adjustment mechanism 11 far from the drive motor 7 is named N2;

[0129] According to N1 and N2, the target object adjustment determination is performed;

[0130] The initial position of the mounting shell 6 is determined according to the center position of the target object. The position point of the mounting shell 6 is selected by the midpoint of the top diagonal of the mounting shell 6. The midpoint of the diagonal of the mounting shell 6 is located above the central area, and the position between the clamping plates 10 on both sides of the bottom of the mounting shell 6 is obtained respectively. The position of the clamping plate 10 is obtained by using the midline of the bottom diagonal of the clamping plate 10 as the position acquisition point of the clamping plate 10. According to the position of the clamping plate 10, the distance between the clamping plate 10 and the target object is calculated respectively to determine whether the clamping plate 10 will contact the target object when it moves downward, so as to effectively avoid the situation in which the target object falls over and cannot be clamped normally due to the contact between the bottom of the clamping plate 10 and the target object during the downward movement of the clamping plate 10;

[0131] By moving the clamping plate 10 at the end of the target object in the tilted direction (i.e., the tilted direction of the opening of the garbage bag) downward to the center height, the other clamping plate 10 moves to the vertical direction of the target object. height, at this time, the mounting housing 6 is located directly above the central area, so that during the clamping process of the clamping plate 10 clamping the target object, the clamping plate 10 at the end of the target object in the inclined direction moves upward while clamping, and finally moves to In this way, the clamping plate can straighten the end of the target object during the clamping process of the target object, and because the mounting shell is located above the central area of ​​the target object, the other clamping plate 10 also moves toward the central area. At this time, it is effectively avoided that during the straightening process of the target object by the clamping plate 10 in the tilted direction of the end of the target object, there is still a large distance between the other clamping plate and the target object, which causes the target object to tilt in the opposite direction of the end of the target object, thereby effectively improving the clamping effect.

[0132] Those skilled in the art should understand that the implementation of all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned control methods. Those skilled in the art can understand that the implementation of all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned control methods. Among them, the storage medium can be a disk, an optical disk, a read-only storage memory Read-OnlyMemory, ROM, a random access memory RandomAccessMemory, RAM, a flash memory FlashMemory, a hard disk HardDiskDrive, abbreviated as: HDD or a solid-state drive Solid-StateDrive, SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0133] Example 3

[0134] For this example, please refer to Figures 1 to 7 , the target object adjustment determination includes:

[0135] Get the values ​​of N1 and N2, and compare the values ​​of N1 and N2;

[0136] If the value of N1 is greater than the value of N2, the adjustment mechanism 11 on the side away from the drive motor is controlled to move clockwise, and the values ​​of N1 and N2 are continuously obtained until the value of A falls within the determination threshold;

[0137] If the value of N1 is less than the value of N2, the adjustment mechanism 11 close to the driving motor is controlled to move counterclockwise, and the values ​​of N1 and N2 are continuously obtained until the value of A falls within the determination threshold;

[0138] in,

[0139] When the clamping plate 10 clamps the target object and lifts the target object, the total values ​​N1 and N2 of the adjustment mechanism 11 set on the side of the clamping plate 10 are obtained, and the difference A between N1 and N2 is compared. A is calculated using the above formula, so that the difference A is always positive, which is convenient for comparing whether A falls within the judgment threshold, wherein the judgment threshold can be 0-5KG, and those skilled in the art can select it according to the weight of the target object. When the difference A does not fall within the judgment threshold, the size of N1 and N2 is determined, and the movement of the adjustment mechanism 11 is controlled to lift the target object during the clamping process. It should be noted that the adjustment mechanism 11 can be a small conveyor belt with an automatic locking function. Through the movement of the small conveyor belt, one side of the target object is lifted (that is, one side of the garbage packaging bag is lifted, the center of gravity of the packaging bag is changed, and the difference between N1 and N2 falls within the judgment threshold. In this way, the forces on both sides of the packaging belt are more balanced);

[0140] When the value of A falls within the determination threshold, the values ​​of N1.1 and N1.2 on the regulating mechanism 11 near the drive motor 7 are obtained, where N1.1 and N1.2 are respectively the regulating mechanism 11 located above the drive motor 7 and the regulating mechanism 11 located below the drive motor 7;

[0141] And calculate the numerical values ​​of N1.1 and N1.2;

[0142] If the value of N1.1 is greater than the value of N1.2, the second hydraulic module on N1.2 is controlled to drive the adjustment mechanism 11 to approach the target object, and the values ​​of N1.1 and N1.2 are continuously obtained until the value of A1 falls within the determination threshold;

[0143] If the value of N1.1 is less than the value of N1.2, the second hydraulic module on N1.1 is controlled to drive the adjustment mechanism 11 to approach the target object, and the values ​​of N1.1 and N1.2 are continuously obtained until the value of A1 falls within the determination threshold;

[0144] in,

[0145] When the value of A falls within the determination threshold, the values ​​of N2.1 and N2.2 on the adjustment mechanism 11 on the side away from the drive motor 7 are obtained, where N2.1 and N2.2 are the adjustment mechanism 11 located above the drive motor 7 and the adjustment mechanism 11 located below the drive motor 7, respectively;

[0146] And calculate the numerical values ​​of N2.1 and N2.2;

[0147] If the value of N2.1 is greater than the value of N2.2, the second hydraulic module on N2.2 is controlled to drive the adjustment mechanism 11 to approach the target object, and the values ​​of N2.1 and N2.2 are continuously obtained until the value of A1 falls within the determination threshold;

[0148] If the value of N2.1 is less than the value of N2.2, the second hydraulic module on N2.1 is controlled to drive the adjustment mechanism 11 to approach the target object, and the values ​​of N1.1 and N1.2 are continuously obtained until the value of A2 falls within the determination threshold;

[0149] in,

[0150] When N1 and N2 fall within the determination threshold, the values ​​of N1.1 and N1.2 are obtained respectively, and the difference A1 between the two is calculated. When the difference A1 between the two does not fall within the determination threshold, it can be determined that the force difference between the regulating mechanisms 11 corresponding to N1.1 and N1.2 is large. At this time, the packaging bag contacted by the regulating mechanism 11 with a larger force is prone to damage. At this time, the second hydraulic module 12 is controlled to drive the regulating mechanism with a smaller difference to approach the target object (i.e., the packaging bag), increase the contact force, and make the regulating mechanism 11 on one side more evenly stressed, effectively reducing the damage during the lifting process of the target object.

[0151] A three-axis motion control method comprises the following steps:

[0152] Step 1: First, the lateral distance of the first slide rail module 3 installed on the first drive module 2 is adjusted by controlling the movement of the first drive module 2 on the installation module 1;

[0153] Step 2: by controlling the movement of the second driving module 4 provided on the first slide rail module 3, the longitudinal distance of the second slide rail module 5 installed at the bottom of the second driving module 4 is adjusted;

[0154] Step 3: Control the driving motor 7 installed on the mounting housing 6 to move, drive the rotating screw 8 located inside the mounting housing 6, and drive the first hydraulic module 9 located outside the rotating screw 8 to move, and adjust the distance between the clamping plates 10 provided at the ends of the first hydraulic modules 9 on both sides to clamp the target object;

[0155] The mounting shell 6 is disposed at the end of the second slide rail module 5, and a rotating mechanism for adjusting the rotation angle of the mounting shell 6 is disposed between the mounting shell 6 and the second slide rail module 5;

[0156] Step three: by controlling the movement of the first hydraulic module 9, the height of the clamping plate 10 installed at the bottom of the first hydraulic module 9 is adjusted. An adjusting mechanism 11 for adjusting the clamping position of the target object is provided on the inner side of the clamping plate 10. A second hydraulic module 12 for controlling the fitting force between the adjusting mechanism 11 and the target object is installed on the adjusting mechanism 11.

[0157] It should be noted that the rotating mechanism for adjusting the rotation angle of the mounting housing 6 provided between the mounting housing 6 and the second slide rail module 5 may be a driving motor with a locking function, and those skilled in the art may select it according to actual needs, as long as the rotation adjustment of the mounting housing 6 is satisfied, the rotating screw 8 is threadedly connected to the first hydraulic module 9, and the threads at both ends of the rotating screw 8 are oppositely arranged;

[0158] An electronic device, characterized in that it comprises:

[0159] processor;

[0160] a memory for storing processor-executable instructions;

[0161] Wherein, the processor is configured to implement a three-axis motion control system when executing executable instructions.

[0162] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0163] Each unit or each step of the present invention can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0164] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A three-axis motion control system, characterized in that: include: Data acquisition module, data analysis and processing module, equipment control module and data storage module; The data acquisition module is used to collect target object information and transmit the collected target object information to the data storage module for storage; The data analysis module obtains the target object information in the data storage module, integrates the obtained target object information, and outputs the target object end state information; The device control module controls the three-axis device to execute the target object clamping strategy according to the target object end state information; The target object information includes: target object position information, target object center information and target object end state information; The target object position information and target object end state information are obtained using the following steps: Acquire the location information of the target object by using a ranging device; Controlling the appearance acquisition device to acquire the appearance information of the target object according to the position information of the target object; By integrating the appearance information of the target object obtained by the appearance acquisition device, a three-dimensional model of the target object is produced; Obtaining end state information of the target object based on the three-dimensional model of the target object; The acquisition of target object center information includes: Obtain the location information of the target object; Controlling the projection device to move to the area above the target object according to the position information of the target object; Projecting the target object using a projection device, acquiring projection information of the target object using an appearance acquisition device, and storing the acquired projection information in a data storage module; The projection information is acquired through the data analysis module, and the center position of the target object is calculated and output; The calculation of the target object center position information includes: Obtaining target object projection information and a three-dimensional model of the target object, and drawing a plurality of diagonal lines in the target object projection information; The blank area enclosed by the diagonal line in the middle of the projection of the target object is selected as the central area; According to the 3D model of the target object, several vertical lines are drawn in the 3D model of the target object. The vertical line with the longest distance is selected and named H. H is the maximum height of the 3D model of the target object, and H / 2 is the center height of the target object. H / 2 is integrated with the center area position information to determine the center position of the target object. Obtaining target object end state information and target object center position information; The center position information of the object is transmitted to the device control module, and the device control module controls the first drive module (2) and the second drive module (4) to move on the installation module (1) and the first slide rail module (3) respectively, so that the installation shell (6) moves to above the center position of the object, and controls the drive motor (7) to move, so as to adjust the distance between the two clamping plates (10) to the maximum position; The inclination of the end of the target object is determined by the state information of the end of the target object, and the mounting housing (6) is rotationally adjusted according to the inclination of the end of the target object so that the driving motor (7) on the mounting housing (6) maintains the same direction as the inclination of the end of the target object; Controlling a clamping plate (10) on one side of a drive motor (7) on a mounting housing (6) to move downward to a height of a center position of a target object, and performing collision detection in advance when the clamping plate (10) moves downward; Control the clamping plate (10) on the side away from the driving motor (7) to move downward to and controlling the driving motor (7) to move the clamping plates (10) on both sides closer to execute a clamping strategy on the target object; Collision detection includes; S1. respectively obtain the position information of the clamping plate (10) on the side close to the drive motor (7) and the clamping plate (10) on the side away from the drive motor (7), and name the obtained position information as X and Y; S2. Control the movement of the ranging device according to the X position information, and make the ranging device position information consistent with the X position information; S3. Measure the distance of the target object by the ranging device, and set the distance between the ranging device and the target object to h1, and perform h1 and the center height value of the target object to determine; If the h1 value is less than the target object center height value, the mounting housing (6) is moved in the direction of the drive motor (7) to compensate for the spacing length, and the above steps S1-S3 are executed again until the h1 value is greater than or equal to the target object center height value; If the h1 value is greater than or equal to the center height of the target object, move the ranging device to match the Y position information; The distance between the distance measuring device and the target object is measured by the distance measuring device, and the distance between the distance measuring device and the target object is set to h2. Numerical determination; When h2 value is less than When the value of h2 is greater than or equal to , the mounting housing (6) is moved in the opposite direction along the driving motor (7) to compensate for the spacing length, and the above steps S1-S3 are executed again, and the value of h2 is greater than or equal to . Numeric value; When the h2 value is greater than or equal to When the value is set, the target object is executed normally to perform the clamping strategy.

2. The three-axis motion control system according to claim 1, characterized in that: Target object gripping strategies include: Controlling the driving motor (7) to drive the clamping plates (10) on both sides of the bottom of the mounting housing (6) to move closer to each other to clamp the target object; When the clamping plate (10) near the driving motor (7) moves, the first hydraulic module (9) above the clamping plate (10) is controlled to move, and finally the clamping plate (10) moves to high; When the clamping plate (10) on the side close to the drive motor (7) and the clamping plate (10) on the side away from the drive motor (7) are at the same level, the first hydraulic modules (9) on the clamping plates (10) on both sides are controlled to move upward; The total number of pull-downs of the regulating mechanisms (11) on the clamping plates (10) on both sides is detected respectively, and the total number of pull-downs of the regulating mechanisms (11) close to the drive motor (7) is named N1, and the total number of pull-downs of the regulating mechanisms (11) far from the drive motor (7) is named N2; Based on N1 and N2, target object adjustment determination is performed.

3. The three-axis motion control system according to claim 2, characterized in that: Target object adjustment determination includes: Get the values ​​of N1 and N2, and compare the values ​​of N1 and N2; If the value of N1 is greater than the value of N2, the regulating mechanism (11) on the side away from the driving motor is controlled to move clockwise, and the values ​​of N1 and N2 are continuously obtained until the value of A falls within the judgment threshold; If the value of N1 is less than the value of N2, the regulating mechanism (11) on the side close to the driving motor is controlled to move counterclockwise, and the values ​​of N1 and N2 are continuously obtained until the value of A falls within the judgment threshold; in, When the value of A falls within the determination threshold, the values ​​of N1.1 and N1.2 on the regulating mechanism (11) on the side close to the drive motor (7) are obtained, where N1.1 and N1.2 are respectively the regulating mechanism (11) located above the drive motor (7) and the regulating mechanism (11) located below the drive motor (7); And calculate the numerical values ​​of N1.1 and N1.2; If the value of N1.1 is greater than the value of N1.2, the second hydraulic module on N1.2 is controlled to drive the adjustment mechanism (11) toward the target object, and the values ​​of N1.1 and N1.2 are continuously obtained until the value of A1 falls within the determination threshold; If the value of N1.1 is less than the value of N1.2, the second hydraulic module on N1.1 is controlled to drive the adjustment mechanism (11) to approach the target object, and the values ​​of N1.1 and N1.2 are continuously obtained until the value of A1 falls within the judgment threshold; in, When the value of A falls within the determination threshold, the values ​​of N2.1 and N2.2 on the regulating mechanism (11) on the side away from the drive motor (7) are obtained, where N2.1 and N2.2 are respectively the regulating mechanism (11) located above the drive motor (7) and the regulating mechanism (11) located below the drive motor (7); And calculate the numerical values ​​of N2.1 and N2.2; If the value of N2.1 is greater than the value of N2.2, the second hydraulic module on N2.2 is controlled to drive the adjustment mechanism (11) to approach the target object, and the values ​​of N2.1 and N2.2 are continuously obtained until the value of A1 falls within the judgment threshold; If the value of N2.1 is less than the value of N2.2, the second hydraulic module on N2.1 is controlled to drive the adjustment mechanism (11) to approach the target object, and the values ​​of N1.1 and N1.2 are continuously obtained until the value of A2 falls within the judgment threshold; in, 4. A three-axis motion control method, based on the three-axis motion control system according to claim 3, characterized in that: The steps include: Step 1: First, by controlling the movement of the first driving module (2) on the installation module (1), the lateral distance adjustment of the first slide rail module (3) installed on the first driving module (2) is achieved; Step 2: by controlling the movement of the second driving module (4) provided on the first slide rail module (3), the longitudinal distance of the second slide rail module (5) installed at the bottom of the second driving module (4) is adjusted; Step 3: Control the driving motor (7) installed on the mounting housing (6) to move, thereby driving the rotating screw (8) located inside the mounting housing (6), thereby driving the first hydraulic module (9) located outside the rotating screw (8) to move, and by adjusting the spacing between the clamping plates (10) provided at the ends of the first hydraulic modules (9) on both sides, clamping the target object; The mounting shell (6) is arranged at the end of the second slide rail module (5), and a rotating mechanism for adjusting the rotation angle of the mounting shell (6) is provided between the mounting shell (6) and the second slide rail module (5); Step 3: By controlling the movement of the first hydraulic module (9), the height of the clamping plate (10) installed at the bottom of the first hydraulic module (9) is adjusted. An adjusting mechanism (11) for adjusting the clamping position of the target object is provided on the inner side of the clamping plate (10). A second hydraulic module (12) for controlling the contact force between the adjusting mechanism (11) and the target object is installed on the adjusting mechanism (11).

5. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the three-axis motion control system according to any one of claims 1 to 3 when executing the executable instructions.

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