Multifunctional gas cylinder automatic transportation method

Abstract

The present application relates to a kind of multifunctional gas cylinder automatic transport method, belong to gas cylinder transport technical field.Therein, the method includes: by the bar code reader of automatic acquisition unit automatically reading gas cylinder electronic bar code obtains gas cylinder information, by data processing unit, the material information needing to be transported is compared and analyzed to obtain transport control instruction;Path planning unit obtains starting position, terminal position by analyzing transport control instruction, and path planning is obtained to obtain planning path;Autonomous navigation unit is positioned unmanned transport device, and unmanned transport device is guided according to path planning;After unmanned transport device completes planning path, according to the data received by data communication module, gas cylinder cabinet is identified and matched;After matching successfully, by the gas cylinder clamping mechanism of drive gas cylinder movement module mechanism, gas cylinder cabinet is replaced, and the gas cylinder that is replaced is placed in bottle mechanism.In the automatic transfer of gas cylinder in production line.

Description

Technical Field

[0001] This invention belongs to the field of gas cylinder transportation technology, specifically relating to a multifunctional automatic gas cylinder transportation method. Background Technology

[0002] Currently, gas cylinder transfers in China are all conducted by operators using simple transport vehicles. Gas cylinders are stored separately according to whether they are in use: full gas cylinder storage area and empty gas cylinder storage area. When a gas cylinder needs to be replaced, operators manually move the empty gas cylinder onto the simple transport vehicle, transport it to the empty gas cylinder storage area, and then manually move the empty gas cylinder there. They then proceed to the full gas cylinder storage area to retrieve the full gas cylinder. Operators manually move the full gas cylinder onto the simple transport vehicle, transport it to the cylinder cabinet, and then manually move the full gas cylinder into the cabinet. This process carries risks such as resource waste due to inappropriate vehicle selection and unreasonable capacity allocation; risks of vehicle tipping due to operator non-compliance during transport, such as turning too fast, turning with too small a radius, or uneven loading; risks of gas cylinders being struck by objects during handling and loading / unloading; and risks of operators scanning incorrect codes or transferring the wrong gas cylinder. Meanwhile, most electronic gases are flammable, explosive, highly toxic, and corrosive, posing significant risks during transportation. This places high demands on operators, requiring them to be proficient in the safety knowledge of gas cylinders and gases, the use of fire-fighting equipment and gas masks, and the operation of transportation equipment. Summary of the Invention

[0003] To address the aforementioned problems in the existing technology, this invention provides a multifunctional automatic transportation method for gas cylinders;

[0004] The objective of this invention can be achieved through the following technical solutions:

[0005] The gas cylinder information is obtained by automatically reading the electronic barcode of the gas cylinder through the barcode reader of the automatic acquisition unit. The data processing unit compares and analyzes the gas cylinder information with the information of the material to be transferred to obtain transportation control instructions. The path planning unit obtains the starting position and ending position by parsing the transportation control instructions, and plans the planned path based on the starting position, ending position and environmental information. The autonomous navigation unit locates the unmanned transportation device and guides the unmanned transportation device according to the planned path. After the unmanned transportation device completes the planned path, it identifies and matches the gas cylinder cabinet based on the gas cylinder information and the information of the material to be transferred received by the data communication module from the data processing unit. After successful matching, the gas cylinder clamping mechanism of the gas cylinder movement module replaces the gas cylinder with the gas cylinder cabinet, and the replaced gas cylinder is placed in the cylinder holding mechanism.

[0006] Specifically, the path planning method is as follows:

[0007] Before the unmanned transport device performs path planning, it scans its working environment using onboard sensors, collects global static obstacle information, and transmits it to a host computer for analysis and modeling to generate an environmental map. The specific implementation method is as follows:

[0008] The data association result is obtained by matching sensor data with the current map. The calculation formula is as follows:

[0009]

[0010] in, For the predicted pose of the unmanned transport device at time t, z t x represents the sensor data at time t. t Indicates the current pose of the unmanned transport device, m t-1 The map state at time t-1;

[0011] Based on the data association results, the map state is updated, and the sensor data is reflected in the map. Bayesian filtering is used to update the map state, and the calculation formula is as follows:

[0012]

[0013] Wherein, P(m) t |z 1：t x 1：t Let P(z) represent the posterior probability of the map state at time t. t |x t m t-1 P(m) represents the probability of associating sensor data of the pose of the unmanned transport device with the map state at time t-1. t-1 |z1：t-1 x 1：t-1 Let P(z) be the posterior probability of the map state at time t-1. t |z 1：t-1 x 1：t ) represents the probability of associating sensor data at time t-1 with pose data of the unmanned transport device at time t;

[0014] After determining the starting point and target point using the environmental map, the global planned path is obtained using the A* algorithm. The unmanned transportation device uses sensors to detect the position of obstacles and adjusts the path using a local path planning algorithm based on the obstacle position information.

[0015] Specifically, the method for the unmanned transport device to retrieve gas cylinders is as follows: The automatic unit and the data processing unit acquire information about the gas cylinder to be transported, its location, destination, cap product information, and cap location. The path planning unit and the autonomous navigation unit obtain a first scheduling instruction, a second scheduling instruction, a third scheduling instruction, and a fourth scheduling instruction, and send these to the unmanned scheduling module. The unmanned transport device operates to the cap storage area according to the first scheduling instruction and retrieves the matching cap. The camera of the unmanned transport device locates the cap, and the cap removal and installation mechanism of the unmanned transport device clamps the cap and places it on the cap temporary storage plate. The unmanned transport device operates to the designated gas cylinder cabinet according to the second scheduling instruction and interacts with the cabinet via the data communication module to ensure that the cabinet is in a replaceable gas cylinder state. If the signal feedback indicates a replaceable state, the third scheduling instruction is executed. If the signal feedback indicates a non-replaceable state or no signal feedback is received, the unmanned transport device remains on standby and actively initiates periodic visits until the signal feedback indicates a replaceable state.

[0016] After receiving the third dispatch command, the unmanned transport device uses a camera to physically locate the gas cylinder. The gas cylinder clamping mechanism extends into the gas cylinder cabinet through the gas cylinder motion module mechanism to clamp the gas cylinder. Data is transmitted back through sensors on the grippers to ensure that the gas cylinder clamping mechanism has clamped the gas cylinder. The unmanned transport device feeds back the clamping status of the gas cylinder clamping mechanism to the gas cylinder cabinet. The gas cylinder cabinet releases the internal clamps and feeds back the status to the unmanned transport device.

[0017] The gas cylinder clamping mechanism of the unmanned transport device, through the gas cylinder movement module mechanism, picks up and places empty cylinders onto the cylinder holding mechanism of the unmanned transport device; the camera of the unmanned transport device repositions the cylinder cap, and the cylinder cap disassembly and assembly mechanism of the unmanned transport device clamps the cylinder cap, places it on the cylinder shoulder, and rotates it for installation; the unmanned transport device, through the fourth scheduling command, transfers the gas cylinder to the gas cylinder storage area; after ensuring that the gas cylinder is recovered to the designated area, it moves to the waiting area to await the next command.

[0018] Specifically, the method for the unmanned transport device to retrieve a full gas cylinder is as follows: the unmanned transport device moves to the full gas cylinder storage area via a scheduling command; the camera of the unmanned transport device locates the gas cylinder; the gas cylinder clamping mechanism, through the gas cylinder motion module mechanism, extends its grippers to grasp the full gas cylinder in the storage area; the gas cylinder clamping mechanism of the unmanned transport device extends and holds the full gas cylinder; and the clamping status is fed back to the control system of the full gas cylinder area where the required gas is located, transferring the full gas cylinder to the cylinder support mechanism of the unmanned transport device; the unmanned transport device delivers the gas cylinder to the designated gas cylinder cabinet according to the planned path; the unmanned transport device communicates with the gas cylinder cabinet via data communication to ensure that the gas cylinder cabinet is in a replaceable gas condition. Cylinder status; Upon receiving signal feedback confirmation, the unmanned transport device triggers the cylinder cabinet to open its door and uses the cylinder cap removal and installation mechanism to unscrew the cylinder cap from the gas cylinder, placing it on the cylinder cap temporary storage plate of the unmanned transport device; The camera of the unmanned transport device physically locates the loading position in the cylinder cabinet, places the gas cylinder into the cylinder cabinet, and feeds back the clamping status to the cylinder cabinet; The internal clamps of the cylinder cabinet hold the gas cylinder, and feed back the status to the unmanned transport device; The gas cylinder clamping mechanism releases the gas cylinder, retracts from the cylinder cabinet, and triggers the cylinder cabinet to close its door; The unmanned transport device moves to the cylinder cap storage area according to the dispatch system instructions and places the cylinder cap there; The unmanned transport device moves to the waiting area according to the dispatch system instructions, awaiting the next instruction.

[0019] The beneficial effects of this invention are as follows:

[0020] By employing automated and intelligent unmanned transport devices to replace workers, an automated conveying system is established to achieve automated transfer of gas cylinders within the production line. This method reduces costs and improves economic efficiency. It lowers the number of operators and the skill requirements for workers. It frees up manpower, reduces operator hours and workload, allowing for 24-hour on-call transport; reduces data loss during manual operation, preventing discrepancies between physical and data; reduces the risk of objects hitting the cylinders during operation, such as gas cylinders falling; and reduces the risk of injury or death due to leaks during transport. A single set of equipment can handle the replacement of gas cylinders from multiple cylinder cabinets, improving transfer efficiency. Attached Figure Description

[0021] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the structure of a multifunctional automatic gas cylinder transportation method according to the present invention. Detailed Implementation

[0023] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0024] Please see Figure 1 A multifunctional automatic transportation method for gas cylinders;

[0025] The gas cylinder information is obtained by automatically reading the electronic barcode of the gas cylinder through the barcode reader of the automatic acquisition unit. The data processing unit compares and analyzes the gas cylinder information with the information of the material to be transferred to obtain transportation control instructions. The path planning unit obtains the starting position and ending position by parsing the transportation control instructions, and plans the planned path based on the starting position, ending position and environmental information. The autonomous navigation unit locates the unmanned transportation device and guides the unmanned transportation device according to the planned path. After the unmanned transportation device completes the planned path, it identifies and matches the gas cylinder cabinet based on the gas cylinder information and the information of the material to be transferred received by the data communication module from the data processing unit. After successful matching, the gas cylinder clamping mechanism of the gas cylinder movement module replaces the gas cylinder with the gas cylinder cabinet, and the replaced gas cylinder is placed in the cylinder holding mechanism.

[0026] In this embodiment, the unmanned transport device includes, but is not limited to, unmanned transport vehicles, automated guided vehicles, trackless transport vehicles, rail transport vehicles, various types of conveyors, and various types of conveyor lines, etc., as well as other forms of logistics transfer. The gas cylinder clamping mechanism includes, but is not limited to, cylindrical clamping mechanisms such as grippers and claws. The gas cylinder motion module mechanism includes, but is not limited to, linear transmission mechanisms such as ball screw type linear modules, synchronous belt type linear modules, linear modules, Cartesian coordinate robots, linear slides, linear guides, and ball screws. The automated motion device in the cylinder cap disassembly and assembly mechanism includes, but is not limited to, an automated device with the function of grasping and moving workpieces used in automated production processes, such as a single-axis Cartesian coordinate robot arm, a dual-axis Cartesian coordinate robot arm, a three-axis Cartesian coordinate robot arm, a cylindrical coordinate robot arm, a spherical coordinate robot arm, and a multi-joint robot arm. The unmanned transport device also includes components such as a cylinder cap disassembly and assembly mechanism, a bottle holding mechanism, a data acquisition mechanism, and a cylinder cap temporary storage plate. The unmanned scheduling module receives MES commands, including action instructions, maintenance instructions, charging instructions, and standby instructions. The scheduling system issues different instructions based on different scenarios.

[0027] Specifically, the path planning method is as follows:

[0028] Before the unmanned transport device performs path planning, it scans its working environment using onboard sensors, collects global static obstacle information, and transmits it to a host computer for analysis and modeling to generate an environmental map. The specific implementation method is as follows:

[0029] The data association result is obtained by matching sensor data with the current map. The calculation formula is as follows:

[0030]

[0031] in, For the predicted pose of the unmanned transport device at time t, z t x represents the sensor data at time t. t Indicates the current pose of the unmanned transport device, m t-1 The map state at time t-1;

[0032] Based on the data association results, the map state is updated, and the sensor data is reflected in the map. Bayesian filtering is used to update the map state, and the calculation formula is as follows:

[0033]

[0034] Wherein, P(m) t |z 1：t x 1：t Let P(z) represent the posterior probability of the map state at time t. t |x t mt-1 P(m) represents the probability of associating sensor data of the pose of the unmanned transport device with the map state at time t-1. t-1 |z 1：t-1 x 1：t-1 Let P(z) be the posterior probability of the map state at time t-1. t |z 1：t-1 x 1：t ) represents the probability of associating sensor data at time t-1 with pose data of the unmanned transport device at time t;

[0035] After determining the starting point and target point using the environmental map, the global planned path is obtained using the A* algorithm. The unmanned transportation device uses sensors to detect the position of obstacles and adjusts the path using a local path planning algorithm based on the obstacle position information.

[0036] Specifically, the method for the unmanned transport device to retrieve gas cylinders is as follows: The automatic unit and the data processing unit acquire information about the gas cylinder to be transported, its location, destination, cap product information, and cap location. The path planning unit and the autonomous navigation unit obtain a first scheduling instruction, a second scheduling instruction, a third scheduling instruction, and a fourth scheduling instruction, and send these to the unmanned scheduling module. The unmanned transport device operates to the cap storage area according to the first scheduling instruction and retrieves the matching cap. The camera of the unmanned transport device locates the cap, and the cap removal and installation mechanism of the unmanned transport device clamps the cap and places it on the cap temporary storage plate. The unmanned transport device operates to the designated gas cylinder cabinet according to the second scheduling instruction and interacts with the cabinet via the data communication module to ensure that the cabinet is in a replaceable gas cylinder state. If the signal feedback indicates a replaceable state, the third scheduling instruction is executed. If the signal feedback indicates a non-replaceable state or no signal feedback is received, the unmanned transport device remains on standby and actively initiates periodic visits until the signal feedback indicates a replaceable state.

[0037] After receiving the third dispatch command, the unmanned transport device uses a camera to physically locate the gas cylinder. The gas cylinder clamping mechanism extends into the gas cylinder cabinet through the gas cylinder motion module mechanism to clamp the gas cylinder. Data is transmitted back through sensors on the grippers to ensure that the gas cylinder clamping mechanism has clamped the gas cylinder. The unmanned transport device feeds back the clamping status of the gas cylinder clamping mechanism to the gas cylinder cabinet. The gas cylinder cabinet releases the internal clamps and feeds back the status to the unmanned transport device.

[0038] The gas cylinder clamping mechanism of the unmanned transport device, through the gas cylinder movement module mechanism, picks up and places empty cylinders onto the cylinder holding mechanism of the unmanned transport device; the camera of the unmanned transport device repositions the cylinder cap, and the cylinder cap disassembly and assembly mechanism of the unmanned transport device clamps the cylinder cap, places it on the cylinder shoulder, and rotates it for installation; the unmanned transport device, through the fourth scheduling command, transfers the gas cylinder to the gas cylinder storage area; after ensuring that the gas cylinder is recovered to the designated area, it moves to the waiting area to await the next command.

[0039] Specifically, the method for the unmanned transport device to retrieve a full gas cylinder is as follows: the unmanned transport device moves to the full gas cylinder storage area via a scheduling command; the camera of the unmanned transport device locates the gas cylinder; the gas cylinder clamping mechanism, through the gas cylinder motion module mechanism, extends its grippers to grasp the full gas cylinder in the storage area; the gas cylinder clamping mechanism of the unmanned transport device extends and holds the full gas cylinder; and the clamping status is fed back to the control system of the full gas cylinder area where the required gas is located, transferring the full gas cylinder to the cylinder support mechanism of the unmanned transport device; the unmanned transport device delivers the gas cylinder to the designated gas cylinder cabinet according to the planned path; the unmanned transport device communicates with the gas cylinder cabinet via data communication to ensure that the gas cylinder cabinet is in a replaceable gas condition. Cylinder status; Upon receiving signal feedback confirmation, the unmanned transport device triggers the cylinder cabinet to open its door and uses the cylinder cap removal and installation mechanism to unscrew the cylinder cap from the gas cylinder, placing it on the cylinder cap temporary storage plate of the unmanned transport device; The camera of the unmanned transport device physically locates the loading position in the cylinder cabinet, places the gas cylinder into the cylinder cabinet, and feeds back the clamping status to the cylinder cabinet; The internal clamps of the cylinder cabinet hold the gas cylinder, and feed back the status to the unmanned transport device; The gas cylinder clamping mechanism releases the gas cylinder, retracts from the cylinder cabinet, and triggers the cylinder cabinet to close its door; The unmanned transport device moves to the cylinder cap storage area according to the dispatch system instructions and places the cylinder cap there; The unmanned transport device moves to the waiting area according to the dispatch system instructions, awaiting the next instruction.

[0040] In this embodiment, the gas cylinder clamping mechanism of the unmanned transport device confirms the clamping status with the clamps in the gas cylinder cabinet, the full gas cylinder storage area, and the air cylinder storage area. If the clamping status receives a positive feedback signal, the next action is performed. If no signal is received or the feedback is negative, the clamp holding the cylinder maintains its clamping action, and the unmanned transport device actively initiates a periodic access signal to confirm the action of the docking clamp. The docking control system resets the clamp to zero and sends another signal for confirmation. During the transfer process, multiple information exchanges ensure that the system has a closed loop, increasing the safety of the unmanned transport device in loading and unloading gas cylinders. During the transport process of the unmanned transport device, if there is a personnel sentry alarm device within the detection range, sound and light can be used to remind personnel to evacuate in time to ensure personnel safety. Simultaneously, its own camera is activated and the workshop monitoring system is triggered. This reduces the possibility of unexpected behavior affecting production and records unexpected events in a timely manner for production review.

[0041] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A multifunctional automatic transport method for gas cylinders, characterized in that, include: The automatic data acquisition unit automatically reads the electronic barcodes of gas cylinders to obtain gas cylinder information. The data processing unit compares and analyzes this gas cylinder information with the information of the materials to be transferred to obtain transportation control commands. The path planning unit parses the transportation control commands to obtain the starting and ending positions, and plans a route based on these positions and environmental information. The autonomous navigation unit locates the unmanned transportation device and guides it along the planned route. After completing the planned route through the device drive module, the unmanned transportation device identifies and matches the gas cylinder cabinet based on the gas cylinder information and the information of the materials to be transferred received from the data processing unit via the data communication module. The automatic acquisition unit and the data processing unit acquire information about the gas cylinders to be transported, the location of the gas cylinders, the destination address of the gas cylinders, the information about the steel caps, and the location information of the steel caps; the path planning unit and the autonomous navigation unit obtain the first scheduling instruction, the second scheduling instruction, the third scheduling instruction, and the fourth scheduling instruction, and send them to the unmanned scheduling module. The unmanned transport device operates to the cylinder cap storage area according to the first scheduling instruction, obtains the matching cylinder cap, the camera of the unmanned transport device locates the position of the cylinder cap, and the cylinder cap disassembly and assembly mechanism of the unmanned transport device clamps the cylinder cap and places it on the cylinder cap temporary storage plate of the unmanned transport device. The unmanned transport device operates to the designated gas cylinder cabinet according to the second scheduling instruction, and interacts with the gas cylinder cabinet through the data communication module to ensure that the gas cylinder cabinet is in a replaceable gas cylinder state; if the signal feedback is a replaceable state, the third scheduling instruction is executed; if the signal feedback is a non-replaceable state or no signal feedback is received, the unmanned transport device stays on standby and actively initiates periodic visits until the signal feedback is a replaceable state. After receiving the third dispatch command, the unmanned transport device uses a camera to physically locate the gas cylinder. The gas cylinder clamping mechanism extends into the gas cylinder cabinet via the gas cylinder motion module to clamp the gas cylinder. Data is transmitted back through sensors on the clamps to ensure that the gas cylinder clamping mechanism has held the gas cylinder. The unmanned transport device feeds back the clamping status of the gas cylinder clamping mechanism to the gas cylinder cabinet, which then releases its internal clamps and feeds back its status to the unmanned transport device. The gas cylinder clamping mechanism of the unmanned transport device uses the gas cylinder motion module to pick up and place the empty cylinder onto the bottle support mechanism of the unmanned transport device. The camera of the unmanned transport device repositions the cylinder cap, and the cylinder cap removal and installation mechanism clamps the cylinder cap, places it on the gas cylinder shoulder, and rotates it for installation. The unmanned transport device then uses the fourth dispatch command to transfer the gas cylinder to the gas cylinder storage area. When the unmanned transport device is full of gas cylinders, it moves to the full gas cylinder storage area via a scheduling command. The camera on the unmanned transport device locates the gas cylinder, and the gas cylinder clamping mechanism extends its grippers to grasp the full gas cylinder in the storage area. The clamping status is then fed back to the control system of the full gas cylinder area containing the desired gas, transferring the full gas cylinder to the unmanned transport device's cylinder-supporting mechanism. The unmanned transport device delivers the gas cylinder to the designated gas cylinder cabinet according to a planned path. The unmanned transport device communicates with the gas cylinder cabinet via data communication to ensure that the cabinet is in a replaceable gas cylinder state. After feedback confirmation, the unmanned transport device triggers the gas cylinder cabinet to open its door, and uses the cylinder cap removal and installation mechanism to unscrew the cylinder cap from the gas cylinder, placing the cap on the cylinder cap temporary storage plate of the unmanned transport device. The camera of the unmanned transport device physically locates the loading position in the gas cylinder cabinet, places the gas cylinder in the cabinet, and feeds back the clamping status to the cabinet. The internal clamps of the cabinet hold the gas cylinder, and feed back the status to the unmanned transport device. The gas cylinder clamping mechanism releases the gas cylinder, retracts from the cabinet, and triggers the cabinet to close its door. The unmanned transport device then moves to the cap storage area according to the dispatch system instructions, places the cylinder cap there, and moves to the waiting area according to the dispatch system instructions. During the process of confirming the clamping status of the gas cylinder clamping mechanism of the unmanned transport device with the clamps of the gas cylinder cabinet, the full gas cylinder storage area, and the air cylinder storage area, if the clamping status receives a positive feedback signal, the next action is performed; if no signal is received or the feedback is negative, the clamping device holds the cylinder in place, and the unmanned transport device actively initiates a periodic access signal to confirm the docking clamping action. After the docking control system returns the clamp to zero, it sends a signal again for confirmation.

Images