A slope self-adaptive compensation control method of a horizontal joint hoisting robot

Abstract

The present application relates to a kind of slope self-adaptive compensation control methods of horizontal joint hoisting robot, comprising: installing two-dimensional inclination sensor on the base of horizontal joint robot, measure warehouse floor slope;According to the slope, analytical calculation horizontal joint robot in each axis direction of tool coordinate system under the compensation offset;According to the compensation offset of each axis direction, the hoisting position coordinates and hoisting planning path coordinates of target goods are position rectification and optimization, obtain after compensation hoisting position and optimized hoisting path;Control horizontal joint robot moves to after compensation hoisting position;Lowering sling hoist goods;Horizontal joint robot hoists goods according to optimized hoisting path.The present application can control horizontal joint robot in the narrow space of warehouse and ground comprehensive angle not more than 10 ° Smoothly hoist goods, enter warehouse.

Description

Technical Field

[0001] This invention belongs to the field of robot control, and in particular relates to a slope adaptive compensation control method for a horizontal joint lifting robot. Background Technology

[0002] Lifting goods in and out of warehouses within relatively limited spaces demands a high level of skill from both the lifting equipment and the operators. If the warehouse is not level with the ground, the goods will tilt after lifting, making the process even more difficult in confined spaces. Currently, the widely adopted solution involves skilled workers operating cranes to lift goods in and out of warehouses, but collisions are difficult to avoid in such confined spaces. Even using existing lifting robots, without considering the slope of the ground, can significantly complicate lifting operations and fail to improve the accuracy and efficiency of working in limited spaces. Summary of the Invention

[0003] To address the aforementioned shortcomings in the existing technology, the technical problem to be solved by the present invention is to provide a control method for a horizontal articulated lifting robot based on slope adaptive compensation, which can control the horizontal articulated robot to smoothly lift goods out of and into the warehouse in a narrow space where the combined angle between the warehouse and the ground is no more than 10°.

[0004] The technical solution adopted by the present invention to achieve the above objectives is: a slope adaptive compensation control method for a horizontal joint lifting robot, the method comprising:

[0005] Measure the slope of the warehouse floor;

[0006] Based on the slope, the compensation offset of the horizontal articulated robot in each axis direction in the tool coordinate system is calculated analytically.

[0007] Based on the compensation offset in each axis direction, the position coordinates of the target cargo's lifting position and the coordinates of the lifting planning path are corrected and optimized to obtain the compensated lifting position and the optimized lifting path.

[0008] The horizontal articulated robot is controlled to move to the compensated lifting position and lower the lifting device to lift the goods; the horizontal articulated robot automatically lifts the goods into and out of the warehouse according to the optimized lifting path.

[0009] The slope of the warehouse floor is measured by installing a two-dimensional tilt sensor on the base of a horizontal articulated robot.

[0010] The X and Y axes are established with the robot's tool coordinate system as the reference, and the slope is the angle α and β at which the bottom of the base chamber is tilted to the horizontal plane along the X and Y axes, respectively.

[0011] The lifting point needs to calculate the offset that the horizontally articulated robot needs to compensate for in the X and Y directions, including: Where H is the distance from the spreader to the cargo being lifted.

[0012] The path planning requires calculating the offsets that the horizontally articulated robot needs to compensate for in the X and Y directions, including: Where L is the height of the cargo being hoisted.

[0013] After the teaching point of the horizontal joint lifting robot is compensated for the offset, the optimized lifting path is obtained; the controller automatically plans the outbound and inbound paths based on the placement position of the goods in the warehouse, automatically avoids obstacles, and lowers the goods to the target position.

[0014] A slope adaptive compensation control system for a horizontal articulated lifting robot includes the following program modules:

[0015] The slope measurement module outputs commands to control a two-dimensional tilt sensor mounted on the base of the horizontal articulated robot to measure the slope of the warehouse floor.

[0016] The slope calculation module is used to analyze and calculate the compensation offset of the horizontal articulated robot in each axis direction in the tool coordinate system based on the slope value.

[0017] The offset compensation module is used to correct and optimize the position coordinates of the target cargo's lifting position and the planned lifting path based on the compensation offset in each axis direction, so as to obtain the compensated lifting position and the optimized lifting path.

[0018] The motion execution module is used to output commands to control the horizontal articulated robot to move to the compensated lifting position, lower the lifting device to lift the goods, and control the horizontal articulated robot to automatically lift the goods in and out of the warehouse according to the optimized lifting path.

[0019] A storage medium storing the method steps described above for implementing slope adaptive compensation of a horizontal joint lifting robot during the lifting process.

[0020] A slope adaptive compensation controller for a horizontal joint lifting robot includes a memory and a processor. The memory stores a program, and the processor loads the program and executes the method steps described above to realize slope adaptive compensation of the horizontal joint lifting robot during the lifting process.

[0021] The present invention has the following advantages and beneficial effects:

[0022] 1. It can make full use of the limited space in the warehouse, allowing for smaller spacing between goods and maximizing the amount of goods that can be stored.

[0023] 2. Using this control method to control the horizontal articulated robot to lift goods, the robot can automatically complete the inbound and outbound operations according to the predetermined program, with low requirements for the skill level and proficiency of the operators;

[0024] 3. Using this control method, the horizontal articulated robot can automatically avoid obstacles when lifting and unloading goods in confined spaces, preventing collisions or damage during the loading and unloading process. Attached Figure Description

[0025] Figure 1 A schematic diagram of a horizontally articulated lifting robot lifting goods;

[0026] Figure 2 A top view of the movement trajectory of a horizontally articulated lifting robot when lifting goods.

[0027] Figure 3 The main view of the horizontal articulated lifting robot lifting goods when the warehouse X direction forms an angle α with the ground;

[0028] Figure 4 The rear view of the horizontal articulated lifting robot lifting goods when the warehouse's Y-direction forms an angle β with the ground.

[0029] Figure 5 Here is a flowchart of a control method for a horizontal joint lifting robot based on slope adaptive compensation;

[0030] In the diagram: 1 is a horizontal joint lifting robot, 2 is the cargo being lifted, and 3 is a narrow working space. Detailed Implementation

[0031] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] In warehouses with limited space and a certain slope relative to the horizontal, it is difficult to hoist goods in and out of the warehouse when they are stacked densely.

[0033] By providing a control method for a horizontal articulated hoisting robot based on slope adaptive compensation, it is possible to complete the loading and unloading of goods in a narrow space when the warehouse is sloping.

[0034] like Figure 1The diagram shows a horizontal articulated lifting robot lifting cargo, representing an application example of the present invention. The robot consists of a base, a main arm, an auxiliary arm, a forearm, and an automated lifting device. The base is fixed inside the cabin. The main arm, auxiliary arm, forearm, and automated lifting device are driven by servo motors, enabling horizontal rotation, while the automated lifting device can be vertically raised and lowered. This example is used for loading and unloading cargo in a certain type of transport vehicle, and its prototype has completed reliability testing.

[0035] like Figure 2 The image shows a top view of the movement trajectory of a horizontal articulated lifting robot lifting goods. In this example, the horizontal articulated lifting robot is installed inside the enclosed compartment 3 of the transport vehicle. After the side door of the compartment is opened, loading and unloading of materials inside the compartment can be carried out. The horizontal articulated lifting robot 1 is installed inside the compartment 3 of the transport vehicle. The goods to be lifted (2) are fixed to the bottom surface of the compartment. In order to make full use of the limited space inside the compartment, the goods are placed side by side at equal intervals, with a spacing of 100mm, and a total of 4 items are placed in a single row. A two-dimensional tilt sensor is installed inside the base of the horizontal articulated lifting robot 1, which can detect the tilt angle between the compartment 3 and the horizontal plane in real time.

[0036] like Figure 3 , 4 As shown, during the lifting process, tilt sensors measure the angles α and β of the cabin bottom surface tilting relative to the horizontal plane along the X and Y axes, respectively. The robot control system reads the data from the tilt sensors in real time, calculates the offset that the horizontal articulated robot needs to compensate for in the X and Y directions, controls the robot to move to the compensated position, lowers the lifting device, and automatically connects the cargo. Specifically, the lifting point requires calculation of the offset that the horizontal articulated robot needs to compensate for in the X and Y directions, including: Where H is the distance from the spreader to the cargo being lifted.

[0037] After the goods are lifted, the control system automatically plans the outbound and inbound paths of the horizontal articulated robot based on the offsets that need to be compensated in the X and Y directions. The lifted goods are moved above the target position, automatically avoiding obstacles during the movement, and finally lowered to the target location. The planned path requires calculating the offsets that the horizontal articulated robot needs to compensate in the X and Y directions, including: Where L is the height of the cargo being hoisted.

[0038] Through prototype testing, this example fully demonstrates the advantages of the invention, such as flexible movement, small space occupation, and strong slope adaptability. The robot control system can make real-time corrections to the robot's teaching point and movement path based on real-time tilt angle data, solving the problem of cargo position and posture deviation caused by the inherent flexibility of the wire rope winch mechanism under tilt conditions. This fully reflects the advantages of robot technology over traditional cranes, and the loading and unloading efficiency can be increased by more than 3 times.

[0039] like Figure 5The diagram shown is a flowchart of a control method for a horizontal joint lifting robot based on slope adaptive compensation.

[0040] Step 1: The robot control system reads the tilt sensor values ​​α and β;

[0041] Step 2: The control system calculates the offset that the horizontal joint robot needs to compensate in the X and Y directions based on the tilt sensor values ​​α and β.

[0042] Step 3: The robot moves to the compensated position;

[0043] Step 4: The robot lowers the lifting device and automatically connects the goods;

[0044] Step 5: The robot lifts the goods;

[0045] Step 6: The robot moves to the target location according to the automatically planned outbound and inbound paths;

[0046] Step 7: The robot lowers the goods to the target location.

[0047] The present invention also includes a slope adaptive compensation control system for a horizontal articulated lifting robot, comprising the following program modules: a slope measurement module, which outputs commands to control a two-dimensional tilt sensor mounted on the base of the horizontal articulated robot to measure the slope of the warehouse floor; a slope calculation module, which is used to analyze and calculate the compensation offset of the horizontal articulated robot in each axis direction in the tool coordinate system based on the slope values; an offset compensation module, which is used to perform position correction and optimization on the lifting position coordinates and lifting planning path coordinates of the target goods based on the compensation offset in each axis direction, to obtain the compensated lifting position and the optimized lifting path; and a motion execution module, which outputs commands to control the horizontal articulated robot to move to the compensated lifting position, lower the lifting device to lift the goods, and control the horizontal articulated robot to automatically lift the goods in and out of the warehouse according to the optimized lifting path.

[0048] The present invention also includes a storage medium storing the method steps described above, for realizing slope adaptive compensation of the horizontal joint lifting robot during the lifting process.

[0049] The present invention also includes a slope adaptive compensation controller for a horizontal joint lifting robot, comprising a memory and a processor. The memory stores a program, and the processor loads the program and executes the method steps described above to realize slope adaptive compensation of the horizontal joint lifting robot during the lifting process.

[0050] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any simple modifications, alterations, or equivalent structural changes made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A slope adaptive compensation control method for a horizontal joint lifting robot, characterized in that, The method includes: The slope of the warehouse floor is measured by establishing the X and Y axes with the robot's tool coordinate system as the reference. The slope is the angle α and β of the warehouse floor tilting relative to the horizontal plane along the X and Y axes, respectively. Based on the slope, the compensation offset of the horizontal articulated lifting robot in each axis direction in the tool coordinate system is calculated analytically; the lifting point requires calculation of the offset compensation of the horizontal articulated lifting robot in the X and Y axis directions, including: Where H is the distance from the spreader to the cargo being lifted; Based on the compensation offset in each axis direction, the position coordinates of the target cargo's lifting position and the coordinates of the lifting planning path are corrected and optimized to obtain the compensated lifting position and the optimized lifting path. The horizontal articulated lifting robot is controlled to move to the compensated lifting position and lower the lifting device to lift the goods; the horizontal articulated lifting robot automatically lifts the goods into and out of the warehouse according to the optimized lifting path.

2. The slope adaptive compensation control method for a horizontal joint lifting robot as described in claim 1, characterized in that, The slope of the warehouse floor is measured by installing a two-dimensional tilt sensor on the base of a horizontally articulated hoisting robot.

3. The slope adaptive compensation control method for a horizontal joint lifting robot as described in claim 1, characterized in that, The planned path requires calculating the offsets that the horizontally articulated lifting robot needs to compensate for in the X and Y axes, including: Where L is the height of the cargo being hoisted.

4. The slope adaptive compensation control method for a horizontal joint lifting robot as described in claim 1, characterized in that, After the teaching point of the horizontal joint lifting robot is compensated for the offset, the optimized lifting path is obtained; the controller automatically plans the outbound and inbound paths based on the placement position of the goods in the warehouse, automatically avoids obstacles, and lowers the goods to the target position.

5. A slope adaptive compensation control system for a horizontal joint lifting robot, characterized in that, Includes the following program modules: The slope measurement module outputs commands to control a two-dimensional tilt sensor mounted on the base of the horizontal joint hoisting robot to measure the slope of the warehouse floor. The X and Y axes are established with the robot's tool coordinate system as the reference, and the slope is the angle α and β of the warehouse floor tilting relative to the horizontal plane along the X and Y axes, respectively. The slope calculation module is used to analyze and calculate the compensation offset of the horizontal joint lifting robot in each axis direction in the tool coordinate system based on the slope value. The lifting point needs to calculate the offset that the horizontal joint lifting robot needs to compensate for in the X and Y axis directions, including: Where H is the distance from the spreader to the cargo being lifted; The offset compensation module is used to correct and optimize the position coordinates of the target cargo's lifting position and the planned lifting path based on the compensation offset in each axis direction, so as to obtain the compensated lifting position and the optimized lifting path. The motion execution module is used to output commands to control the horizontal articulated lifting robot to move to the compensated lifting position, lower the lifting device to lift the goods, and control the horizontal articulated lifting robot to automatically lift the goods in and out of the warehouse according to the optimized lifting path.

6. A storage medium, characterized in that, The storage medium stores the method steps as described in any one of claims 1-4, used to realize slope adaptive compensation of the horizontal joint lifting robot during the lifting process.

7. A slope adaptive compensation controller for a horizontal joint lifting robot, characterized in that, It includes a memory and a processor. The memory stores a program, and the processor loads the program to execute the steps of the method as described in any one of claims 1-4, thereby realizing slope adaptive compensation of the horizontal joint lifting robot during the lifting process.

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