Intelligent pile breaking method based on laser radar

Abstract

The application discloses an intelligent pile breaking method based on a laser radar and belongs to the field of wine brewing. The whole pile is scanned by the laser radar to obtain point cloud data of the whole pile. The pile is divided into 1-K layers and K+1 to N layers along the height direction, the grabbing coordinates and the grabbing height of each layer are planned, the grabbing times are reduced, and the grabbing process of K+1 to N layers is avoided, the grabbing bucket is not excessively contacted with the ground to cause abrasion of the grabbing bucket and damage of the ground, and the deformation caused by the grabbing and extrusion of the pile is avoided by setting an overlapping area.

Description

Technical Field

[0001] The present invention relates to the field of wine brewing, and in particular to an intelligent pile-breaking method based on lidar. Background Art

[0002] Baijiu is an important pillar of China's national economy. An important process in the Baijiu brewing process is pile-breaking. Pile-breaking specifically refers to collecting the fermented grains piled up on the ground, loading them into frames, and then putting them into the cellar.

[0003] In the prior art, a traditional double-arm overhead crane is used, and workers use a grab to grab the fermented grains into the frame multiple times. However, the position and height of the grab each time it grabs are manually operated according to experience, resulting in excessive grabbing times of the grab, waste, and the grabbing position and trajectory of the grab not being scientifically planned, causing energy waste. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, one of the objectives of the present invention is to provide an intelligent pile-breaking method based on lidar, so that the grabbing position and trajectory of the grab are scientifically planned.

[0005] One of the objectives of the present invention is achieved by adopting the following technical solution: An intelligent pile-breaking method based on lidar includes the following steps: S1: The lidar moves along the first direction to perform an overall scan of the material pile, and obtains the point cloud data of the entire material pile; S2: According to the size data of the grab and the point cloud data of the entire material pile, plan the number of grabbing layers N in the height direction of the material pile and the grabbing coordinates and heights when grabbing the 1-K layers, where N>3, K<N and N-K=1 or 2; S3: The grab grabs the 1-K layers according to the grabbing coordinates and heights of the 1-K layers. When grabbing each layer of the 1-K layers, the grab grabs from the initial end of the material pile to the end of the material pile along the first direction, then returns to the initial end of the material pile and moves to the next grabbing position in the second direction perpendicular to the first direction and then continues to grab in the first direction until this layer of the material pile is grabbed. The grabbing areas of adjacent grabbing positions in the first direction and the second direction overlap, and the length ratio of the overlapping area in the second direction is greater than the width ratio of the overlapping area in the first direction; S4: The lidar moves along the first direction to perform an overall scan of the remaining K+1 to N layers of the material pile, and obtains the point cloud data of the material pile; S5: Calculate the grabbing coordinates and heights of the K+1 to N layers according to the point cloud data of the remaining K+1 to N layers of the material pile; S6: The grab bucket performs grabbing of layers K+1 to N according to the grabbing coordinates and grabbing height of layers K+1 to N. When grabbing each layer from K+1 to N, the grab bucket grabs from the initial end of the material pile to the end of the material pile along the first direction, and then returns to the initial end of the material pile. After moving to the next grabbing position in the second direction perpendicular to the first direction, it continues to grab in the first direction until the material pile of this layer is grabbed. The grabbing areas of adjacent grabbing positions in the first direction and the second direction overlap. The length ratio of the overlapping area in the second direction is greater than the width ratio of the overlapping area in the first direction. The width ratio of the overlapping area of ​​layers K+1 to N in the first direction is less than the width ratio of the overlapping area of ​​layers 1-K in the first direction. The length ratio of the overlapping area of ​​layers K+1 to N in the second direction is less than the length ratio of the overlapping area of ​​layers 1-K in the second direction.

[0006] Furthermore, the material pile is conical in shape, and the gripping area of ​​each layer is rectangular.

[0007] Furthermore, the first direction is the direction in which the main vehicle moves during operation, and the second direction is the direction in which the auxiliary vehicle moves.

[0008] Furthermore, in step S2, when planning the grabbing height for grabbing layers 1-K, priority is given to ensuring that the height of layers K+1 to N is reasonable, thereby reducing the number of grabbing operations.

[0009] Furthermore, in step S2, the gripping height of layer 2-K is a fixed value less than the gripping height of the previous layer.

[0010] Furthermore, in step S2, the fixed value for the decrease is 600 mm.

[0011] Furthermore, the area that the grabber grasps each time is rectangular.

[0012] Furthermore, in step S3, when grabbing layers 1-K, the overlapping area in the first direction is 10% of the width of the grabbing area of ​​each grabbing bucket, and the overlapping area in the second direction is 20% of the length of the grabbing area of ​​each grabbing bucket.

[0013] Furthermore, in step S6, when grabbing layers K+1 to N, the overlapping area in the first direction is 5% of the width of the grabbing area of ​​each grabbing bucket, and the overlapping area in the second direction is 10% of the length of the grabbing area of ​​each grabbing bucket.

[0014] Compared with existing technologies, the intelligent pile breaking method based on lidar of this invention uses lidar to scan the entire pile and obtain the point cloud data of the entire pile; the pile is divided into layers 1-K and K+1 to N along the height direction, and the grab coordinates and grab height of each layer are planned to reduce the number of grabs and avoid excessive contact force between the grab bucket and the ground during the grab process of layers K+1 to N, which would cause wear of the grab bucket and damage to the ground. Attached Figure Description

[0015] Figure 1 This is a flowchart of the intelligent pile breaking method based on lidar of the present invention; Figure 2 This is a schematic diagram of the intelligent pile breaking method based on lidar of the present invention grasping along the first direction; Figure 3 This is a schematic diagram of the intelligent pile breaking method based on lidar of the present invention when grasping along the second direction. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or it can be fixed through another intermediate component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may be fixed through another intermediate component. When a component is said to be "set on" another component, it can be set directly on the other component or it may be set through another intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0019] Please see Figure 1 A smart pile breaking method based on lidar includes the following steps: S1: The lidar moves along the first direction to scan the entire material pile and obtain the point cloud data of the entire material pile; S2: Plan the number of grasping layers N in the height direction of the stockpile and the grasping coordinates and grasping heights during the grasping of layers 1 - K according to the size data of the grab bucket and the point cloud data of the overall stockpile, where N > 3, K < N and N - K = 1 or 2; S3: The grab bucket performs grasping of layers 1 - K according to the grasping coordinates and grasping heights of layers 1 - K. When performing the grasping of each layer of layers 1 - K, the grab bucket grasps from the initial end of the stockpile to the terminal end of the stockpile along the first direction, then returns to the initial end of the stockpile and moves to the next grasping position in the second direction perpendicular to the first direction and then continues to grasp in the first direction until the grasping of this layer of the stockpile is completed. There is an overlap in the grasping areas of adjacent grasping positions in the first direction and the second direction, and the length ratio of the overlapping area in the second direction is greater than the width ratio of the overlapping area in the first direction; S4: The lidar moves along the first direction to perform an overall scan of the remaining stockpile layers from K + 1 to N, and obtains the point cloud data of the stockpile; S5: Calculate the grasping coordinates and grasping heights of layers from K + 1 to N according to the point cloud data of the remaining stockpile layers from K + 1 to N; S6: The grab bucket performs grasping of layers from K + 1 to N according to the grasping coordinates and grasping heights of layers from K + 1 to N. When performing the grasping of each layer of layers from K + 1 to N, the grab bucket grasps from the initial end of the stockpile to the terminal end of the stockpile along the first direction, then returns to the initial end of the stockpile and moves to the next grasping position in the second direction perpendicular to the first direction and then continues to grasp in the first direction until the grasping of this layer of the stockpile is completed. There is an overlap in the grasping areas of adjacent grasping positions in the first direction and the second direction, and the length ratio of the overlapping area in the second direction is greater than the width ratio of the overlapping area in the first direction. The width ratio of the overlapping area of layers from K + 1 to N in the first direction is less than the width ratio of the overlapping area of layers 1 - K in the first direction, and the length ratio of the overlapping area of layers from K + 1 to N in the second direction is less than the length ratio of the overlapping area of layers 1 - K in the second direction.

[0020] Specifically, in step S1, the trolley is installed on the large vehicle, and the large vehicle drives the trolley to move along the first direction. The grab bucket is installed on the trolley, and the trolley drives the grab bucket to move in the second direction perpendicular to the first direction. The lidar is installed on the trolley, and the trolley can带动 the lidar to move along the first direction so that the lidar can scan the stockpile to obtain the point cloud data of the stockpile. The point cloud data includes coordinates and height information. The overall stockpile is conical. The lidar moves along the first direction from one side of the stockpile to the other side to perform an overall scan of the stockpile and obtain the point cloud data of the overall stockpile.

[0021] In step S2, when planning the grab height for layers 1-K, since layers K+1 to N are located at the bottom of the material pile, the grab bucket will have a pushing and closing process during grabbing. Therefore, the grab height for layers K+1 to N is different from that for layers 1-K, and there are also requirements for the height of layers K+1 to N. Therefore, when planning the grab height for layers 1-K, it is necessary to prioritize ensuring that the height of layers K+1 to N is reasonable to reduce the number of grabbing operations. The grab height for layers 2-K is the grab height of the previous layer reduced by a fixed value. Specifically, in this embodiment, the fixed value of the reduction is 600mm.

[0022] Please continue reading. Figure 2 as well as Figure 3 Each layer's gripping area is rectangular. The area gripped by the grab bucket each time is rectangular. In step S3, when gripping layers 1-K, the overlapping area in the first direction is 10% of the width of each grab bucket's gripping area, and the overlapping area in the second direction is 20% of the length of each grab bucket's gripping area. In step S6, when gripping layers K+1 to N, the overlapping area in the first direction is 5% of the width of each grab bucket's gripping area, and the overlapping area in the second direction is 10% of the length of each grab bucket's gripping area.

[0023] The calculator dynamically calculates the number of grabbing layers and the grid division for each layer based on the size and height of the point cloud data of the material pile. Parameters such as the overlap ratio and incremental grabbing depth can be adjusted via a tablet interface. The grabbing height of the top 1-K layers is configurable as a process parameter, ultimately achieving a reasonable height for the bottom 1-2 layers (K+1 to N layers) to reduce the number of grabbing operations. The pile breaking method needs to respond to other process instructions issued from the brewing line, such as pile placement, steaming, and steam turning. Therefore, after completing the current grab bucket discharge, the current pile breaking execution state must be saved to ensure that execution can be resumed. Pile breaking involves six grabs per bucket. Empty buckets are retrieved from the elevator conveyor belt, and full buckets are returned to the elevator conveyor belt for transport.

[0024] Compared with existing technologies, the intelligent pile breaking method based on lidar of this invention uses lidar to scan the entire pile and obtain the point cloud data of the entire pile; the pile is divided into layers 1-K and K+1 to N along the height direction, and the grab coordinates and grab height of each layer are planned to reduce the number of grabs and avoid excessive contact force between the grab bucket and the ground during the grab process of layers K+1 to N, which would cause wear of the grab bucket and damage to the ground.

[0025] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These are all equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A smart stack breaking method based on lidar, characterized in that, It includes the following steps: S1: The lidar moves along the first direction to perform an overall scan of the stockpile, and obtains the point cloud data of the entire stockpile; S2: According to the size data of the grab and the point cloud data of the entire stockpile, plan the number of grabbing layers N in the height direction of the stockpile and the grabbing coordinates and grabbing heights when grabbing the 1-K layers. N>3, K<N and N-K = 1 or 2; S3: The grab grabs the 1-K layers according to the grabbing coordinates and grabbing heights of the 1-K layers. When grabbing each layer of the 1-K layers, the grab grabs from the initial end of the stockpile to the end of the stockpile along the first direction, then returns to the initial end of the stockpile and moves to the next grabbing position in the second direction perpendicular to the first direction and then continues to grab in the first direction until this layer of the stockpile is grabbed. There is an overlap in the grabbing areas of adjacent grabbing positions in the first direction and the second direction, and the length ratio of the overlapping area in the second direction is greater than the width ratio of the overlapping area in the first direction; S4: The lidar moves along the first direction to perform an overall scan of the remaining K+1 to N layers of the stockpile, and obtains the point cloud data of the stockpile; S5: Calculate the grabbing coordinates and grabbing heights of the K+1 to N layers according to the point cloud data of the remaining K+1 to N layers of the stockpile; S6: The grab grabs the K+1 to N layers according to the grabbing coordinates and grabbing heights of the K+1 to N layers. When grabbing each layer of the K+1 to N layers, the grab grabs from the initial end of the stockpile to the end of the stockpile along the first direction, then returns to the initial end of the stockpile and moves to the next grabbing position in the second direction perpendicular to the first direction and then continues to grab in the first direction until this layer of the stockpile is grabbed. There is an overlap in the grabbing areas of adjacent grabbing positions in the first direction and the second direction, and the length ratio of the overlapping area in the second direction is greater than the width ratio of the overlapping area in the first direction. The width ratio of the overlapping area of the K+1 to N layers in the first direction is less than the width ratio of the overlapping area of the 1-K layers in the first direction, and the length ratio of the overlapping area of the K+1 to N layers in the second direction is less than the length ratio of the overlapping area of the 1-K layers in the second direction.

2. The intelligent stack breaking method based on lidar according to claim 1, characterized in that: The stockpile is conical, and the grabbing area of each layer is rectangular.

3. The intelligent pile breaking method based on lidar according to claim 1, characterized in that: The first direction is the direction in which the trolley moves in the crane, and the second direction is the direction in which the crab moves.

4. The intelligent pile breaking method based on lidar according to claim 1, characterized in that: In step S2, when planning the grabbing height during the grabbing of the 1-K layers, priority is given to ensuring the reasonable height of the K+1 to N layers and reducing the number of grabs.

5. The intelligent pile breaking method based on lidar according to claim 1, characterized in that: In step S2, the grabbing height of the 2-K layers is a fixed value decreased from the grabbing height of the previous layer.

6. The intelligent pile breaking method based on lidar according to claim 5, characterized in that: In step S2, the decreased fixed value is 600mm.

7. The intelligent stack breaking method based on lidar according to claim 1, characterized in that: The grabbing area of the grab each time is rectangular.

8. The intelligent stack breaking method based on lidar according to claim 7, characterized in that: In step S3, when grabbing the 1-K layers, the overlapping area in the first direction is 10% of the width ratio of the grabbing area of each grab, and the overlapping area in the second direction is 20% of the length ratio of the grabbing area of each grab.

9. The intelligent pile breaking method based on lidar according to claim 7, characterized in that: In step S6, when grabbing the K+1 to N layers, the overlapping area in the first direction is 5% of the width ratio of the grabbing area of each grab, and the overlapping area in the second direction is 10% of the length ratio of the grabbing area of each grab.

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