A handling control system and method for a handling robot

Abstract

This application discloses a handling control system and method for a handling robot, relating to the field of robotic handling. The system includes a waste disposal module for establishing a processing area and transporting waste wood to the processing area; a handling preparation module for acquiring wood information of the target wood to be processed, selecting a target gripper, and automatically changing it; a wood gripping module for analyzing the stacking structure and generating a gripping method for the target wood; a route planning module for acquiring map information of the lumber mill, stacking locations, and processing locations, and generating a wood handling route; a handling warning module for projecting the occupied area and travel route in front of the handling robot and issuing an alarm; a pollution monitoring module for real-time monitoring of the travel route and avoiding pollutants; and a wood placement module for adjusting the target wood. This application improves the intelligence, safety, and accuracy of the handling robot when handling wood.

Description

Technical Field

[0001] This application relates to the field of robotic handling, and in particular to a handling control system and method for a handling robot. Background Technology

[0002] With the continuous advancement of technology, robots have been widely used in industrial production and service sectors. Whether it is automobile production, logistics warehousing or agricultural production, robots have become an important production tool.

[0003] In existing technologies, timber handling in lumber mills is generally done manually or using machinery. While machinery significantly improves efficiency compared to manual labor, it still requires human intervention, consuming substantial manpower. Current automated handling robots, on the other hand, rely on pre-programmed, repetitive mechanical operations, lacking the ability to identify timber piles, potentially causing collapses and safety hazards. Furthermore, they fail to provide clear safety warnings to surrounding workers and cannot avoid contaminants such as wastewater during transport, posing risks to workers and polluting the timber. Moreover, the mechanical gripping and placing of timber can damage it and, due to slight variations in placement, lead to errors during processing. Summary of the Invention

[0004] The purpose of this invention is to provide a handling control system and method for a handling robot to solve the problems just mentioned in the background art.

[0005] In a first aspect, this application provides a handling control system for a handling robot, the system comprising:

[0006] Waste processing module: Used to establish a processing area, identify wood, obtain wood material data, and analyze whether the wood has deteriorated based on the wood material data. If the analysis shows that the wood has deteriorated, the wood is marked as waste wood and transported to the processing area. If the analysis shows that the wood has not deteriorated, the wood is marked as target wood.

[0007] Handling preparation module: used to acquire wood information of the target wood to be processed, obtain wood shape data based on the wood information, and select target gripper and automatically change it according to the wood shape data;

[0008] Timber grabbing module: used to obtain the stacking structure of the timber pile and the target position of the target timber in the timber pile, analyze the stacking structure, generate a grabbing method for the target timber, and grab the target timber based on the grabbing method;

[0009] Route planning module: used to obtain map information of the lumber mill, obtain the stacking location of the lumber and the processing location of the target lumber based on the map information, stacking location and processing location, and generate lumber transportation route by combining map information, stacking location and processing location.

[0010] Handling warning module: Based on the gripping method and wood shape data, it obtains the lateral and longitudinal lengths of the target wood and the handling robot during the handling process; based on the lateral and longitudinal lengths, it projects the occupied area and travel route in front of the handling robot, detects whether there are people around, and issues an alarm if people are detected.

[0011] Pollution monitoring module: used to monitor the route in real time, analyze whether there are pollutants, and if pollutants are found, obtain the pollution impact value of the pollutants on the target wood; determine whether the value of the pollution impact is greater than a preset pollution impact threshold, and if the value of the pollution impact is greater than the threshold, then avoid the pollutants.

[0012] Wood placement module: Used to obtain the wood storage method at the processing location, identify the surface of the target wood, obtain the surface features of the target wood, and adjust the storage posture of the target wood in combination with the surface features and the wood storage method.

[0013] By adopting the above technical solution, target information of the target wood is obtained, and the shape data of the wood is obtained. Based on the shape data of the wood, the handling robot automatically selects and changes the matching gripper. When grasping the wood, the target wood is identified, and it is analyzed whether the target wood has deteriorated. Deteriorated wood is placed in the processing area. The stacking structure of the wood pile is obtained, and the grasping method of the target wood is generated based on the stacking structure. The map information of the wood plant, the stacking position of the wood pile, and the processing position of the target wood are obtained. Based on the above information, the target handling route is generated. During the handling process, the area occupied by the shadow swept by the handling robot and the wood during the movement is projected by laser in front of the handling robot, and the movement route is projected. The presence of personnel in the vicinity is detected, and an audible alarm is issued. During the movement, pollutants on the route are identified, and the pollution impact value of the pollutants on the target wood is judged. If the pollution impact value is too large, the pollutants are avoided. When the processing position is reached, the surface of the wood is identified, the surface features are obtained, and the placement of the target wood is adjusted according to the surface features. This improves the intelligence, safety, and accuracy of the handling robot when moving wood.

[0014] Preferably, the waste treatment module includes a wood identification unit and a waste treatment unit;

[0015] The wood identification unit is used to identify wood, obtain wood material data, and analyze and process the wood material data to obtain the current state of the wood.

[0016] Based on the current state, analyze whether the wood has deteriorated. If the analysis shows that the wood has deteriorated, mark the wood as waste wood. If the analysis shows that the wood has not deteriorated, mark the wood as target wood.

[0017] The waste treatment unit is used to establish a treatment area and transport the waste wood to the waste area for centralized treatment.

[0018] By employing the above technical solution, the target wood is identified, its material data is obtained, and analysis based on this data is conducted to determine if the wood has deteriorated. Deteriorated waste wood is then transported to a pre-designated processing area. This improves the reliability of wood handling and processing.

[0019] Preferably, the handling preparation module includes a shape analysis unit and a gripper replacement unit;

[0020] The shape analysis unit is used to obtain wood information of the target wood to be processed, and to obtain wood shape data based on the wood information;

[0021] The shape data of the wood is analyzed to obtain the shape characteristics of the target wood. Based on the shape characteristics, the stability characteristics of the target wood are obtained. Based on the stability characteristics, the target gripper for grasping the target wood is obtained.

[0022] The gripper replacement unit also includes a gripper storage component and an automatic replacement component;

[0023] The gripper storage component is used to store different types of grippers;

[0024] The automatic switching component is used to select a target gripper and automatically connect the target gripper to the handling robot.

[0025] By adopting the above technical solution, the wood information of the target wood is obtained, and the wood shape data is obtained based on the wood information. Further, the shape characteristics of the wood are obtained, and the stability characteristics of the target wood are obtained based on the shape characteristics. Based on the stability characteristics, a gripping method for the wood is generated, and based on the gripping method, the handling robot is invoked to automatically change the gripper components. This improves the meticulousness and targeted nature of the preparatory work before handling wood.

[0026] Preferably, the wood gripping module includes a structural analysis unit and a gripping method generation unit;

[0027] The structural analysis unit is used to obtain the stacking structure of the timber pile, analyze the stacking structure, and obtain the stress diagram of the timber pile.

[0028] Based on the stress diagram of the wood, the key support points of the wood pile are analyzed, and the grasping order of the wood is obtained according to the key support points;

[0029] The grasping method generation unit is used to sequentially obtain the center of gravity position and stacking posture of the target wood according to the grasping order;

[0030] Based on the center of gravity position and the stacking posture, the gripping angle and gripping position of the target wood are determined, and a gripping method is generated based on the gripping angle and gripping position. The target wood is then gripped based on the gripping method.

[0031] By employing the above technical solution, the stacking structure of the timber pile is obtained, and a force diagram of the timber is generated. Based on the force diagram, the key support points of the timber pile are identified. The grasping sequence of the timber is determined based on the positions of these key support points. The center of gravity position and stacking posture of each target timber are determined based on the grasping sequence. The grasping angle and position are determined based on the center of gravity position and stacking posture, and a grasping method is generated. This improves the stability of the timber pile and each grasped timber during the grasping process.

[0032] Preferably, the route planning module includes a map information processing unit and a route generation unit;

[0033] The map information processing unit is used to acquire map information of the timber plant and obtain a route map for passage based on the map information;

[0034] The route generation unit is used to obtain the stacking position of the timber and the processing position of the target timber, and combine the stacking position, the processing position and the route map to obtain multiple initial handling routes;

[0035] The initial transport routes are analyzed to obtain the road complexity and route length of each initial transport route. Based on the road complexity and route length, the initial transport routes are filtered to obtain the timber transport routes.

[0036] By employing the above technical solution, map information of the timber yard is obtained, resulting in a route map for passage within the yard. The locations of timber stacks and the processing locations of target timber are then identified. Combined with the route map, multiple initial transport routes are derived. The road complexity and length of each initial transport route are calculated, and the initial transport route with low road complexity and short length is selected as the timber transport route. This improves the comprehensiveness and detail of route planning during timber transport.

[0037] Preferably, the handling warning module includes a detection unit and a warning unit;

[0038] When the detection unit is used to handle the target wood, it treats the target wood and the handling robot as a whole and detects and obtains the lateral length and longitudinal length of the whole, as well as the travel path of the whole.

[0039] Centered on the entire transport unit, it probes the surrounding area to analyze whether there are personnel present. If personnel are detected, it outputs a personnel signal.

[0040] The warning unit includes a light warning component and an sound warning component;

[0041] The light warning component is used to obtain the shadow that the transport unit will sweep across the ground in the next three seconds based on the horizontal length and the vertical length of the transport unit;

[0042] The shape and size of the shadow are obtained, and based on the shape and size, a laser projection is made on the ground in front of the overall transport route to generate a warning area;

[0043] The sound alert component is used to issue sound alarms to other personnel based on the acquired personnel information.

[0044] By adopting the above technical solution, when handling timber, the timber and the handling robot are treated as a single unit. The lateral and longitudinal lengths of this unit are obtained, and the shadow cast by the unit over the next three seconds during the handling process is calculated based on these lengths. This shadow is then projected onto the ground in front of the unit's path using a laser. Simultaneously, the system detects the presence of personnel around the unit; if personnel are present, an audible alarm is triggered. This improves the safety and alertness of the handling robot during timber handling.

[0045] Preferably, the pollution monitoring module includes a pollution identification unit and a judgment control unit;

[0046] The pollution identification unit is used to monitor the travel route in real time, acquire monitoring data, and analyze the monitoring data to determine whether there are pollutants. If pollutants are found, the pollution type of the pollutants is obtained.

[0047] The judgment and control unit is used to obtain the pollution impact value of the pollutants on the target wood based on the simulated pollution degree after the pollutants are simulated to be contaminated, and based on the simulated pollution degree and the pollution type.

[0048] Determine whether the pollution impact value is greater than a preset pollution impact threshold;

[0049] If it is determined that the pollution impact value is greater than the threshold, then the pollution location of the pollutant is obtained;

[0050] Based on the location of the contamination, the affected transport route segment is obtained, and the transport route segment is adjusted to avoid the contaminants.

[0051] By adopting the above technical solution, when the handling robot is transporting wood, its travel route is monitored in real time to obtain potential contaminants along the route. This allows for the assessment of contaminant pollution levels and simulations of the degree of contamination on the wood. Combining the degree and type of contamination, a pollution impact value is calculated. If the pollution impact value exceeds a preset threshold, the location of the contamination is identified, and the transport route is adjusted to avoid the contaminants. This reduces the probability of wood becoming contaminated during transport.

[0052] Preferably, the wood placement module includes a surface recognition unit and a placement unit;

[0053] The surface recognition unit is used to acquire surface data of the target wood, analyze the surface data, and obtain the surface features of the target wood.

[0054] The placement unit is used to obtain the wood storage method at the processing location and analyze the stability value of the target wood when it is stored based on the surface characteristics;

[0055] Determine whether the value of the stable value is lower than a preset stable threshold;

[0056] If it is determined that the value of the stable value is less than the value of the stable value. Stablize The threshold is then used to analyze the surface characteristics of the target wood to determine its placement posture, and the posture of the target wood is adjusted based on the placement posture.

[0057] By employing the above technical solution, surface data of the target wood is obtained, surface features are further analyzed, the storage method of the wood at the processing location is determined, and a stability value of the wood during storage is obtained based on the surface features. If the stability value is too low, the placement of the target wood is adjusted according to its surface features. This improves the stability of the target wood stored at the processing location.

[0058] Secondly, this application provides a handling control method for a handling robot, the method comprising the following steps:

[0059] A processing area is established to identify the wood, obtain wood material data, and analyze whether the wood has deteriorated based on the wood material data. If the analysis shows that the wood has deteriorated, the wood is marked as waste wood and transported to the processing area. If the analysis shows that the wood has not deteriorated, the wood is marked as target wood.

[0060] Obtain wood information of the target wood to be processed, obtain wood shape data based on the wood information, and select and automatically change the target gripper according to the wood shape data;

[0061] The stacking structure of the timber pile and the target position of the target timber in the timber pile are obtained. The stacking structure is analyzed to generate a grasping method for the target timber, and the target timber is grasped based on the grasping method.

[0062] Obtain map information of the timber yard, and based on the map information, obtain the stacking location of the timber and the processing location of the target timber. Combine the map information, stacking location, and processing location to generate a timber transportation route.

[0063] Based on the grasping method and the shape data of the wood, the lateral and longitudinal lengths of the target wood and the handling robot during the handling process are obtained; based on the lateral and longitudinal lengths, the area occupied and the travel route are projected in front of the handling robot, and the presence of personnel in the surrounding area is detected. If personnel are detected in the surrounding area, an alarm is issued.

[0064] The route is monitored in real time to analyze whether there are pollutants. If pollutants are found, the pollution impact value of the pollutants on the target wood is obtained. It is then determined whether the value of the pollution impact is greater than a preset pollution impact threshold. If the value of the pollution impact is greater than the threshold, the pollutants are avoided.

[0065] The storage method of the wood at the processing location is obtained, the surface of the target wood is identified, the surface features of the target wood are obtained, and the storage posture of the target wood is adjusted in combination with the surface features and the wood storage method.

[0066] In summary, this application includes at least one of the following beneficial technical effects:

[0067] 1. Obtain target information for the target timber, including its shape data. Based on this data, the handling robot automatically selects and replaces the corresponding gripper. During timber handling, the robot identifies the target timber, analyzes its condition (whether it has deteriorated), and places any deteriorated timber in the processing area. It also acquires the timber stack structure and generates a gripping method based on this structure. Furthermore, it obtains map information of the timber plant, the stack location of the timber, and the processing location of the target timber. Based on this information, it generates a transport route for the target timber. During transport, a laser projects the area and route in front of the robot based on the shadows cast by the robot and the timber. It detects the presence of personnel and issues an audible alarm. During transport, it identifies contaminants along the route and assesses their impact on the target timber. If the impact is too high, it avoids the contaminants. Upon reaching the processing location, it identifies the surface of the timber, obtains its surface features, and adjusts the placement of the target timber based on these features. This improves the intelligence, safety, and accuracy of the handling robot when moving wood.

[0068] 2. Obtain the stacking structure of the timber pile and generate a force diagram of the timber. Based on the force diagram, identify the key support points of the timber pile. Determine the grasping order of the timber based on the positions of these key support points. Based on the grasping order, determine the center of gravity and stacking posture of each target timber. Based on the center of gravity and stacking posture, determine the grasping angle and grasping position, and generate the grasping method. This improves the stability of the timber pile and each grasped timber during the grasping process.

[0069] 3. When handling timber, the timber and the handling robot are treated as a single unit. The lateral and longitudinal lengths of this unit are obtained, and the shadow cast by the unit over the next three seconds is calculated based on these lengths. This shadow is then projected onto the ground ahead of the unit's path using a laser. Simultaneously, the system detects the presence of personnel around the unit; if any are found, an audible alarm is triggered. This enhances the safety and alertness of the handling robot during timber handling. Attached Figure Description

[0070] Figure 1 This is a block diagram of a handling control system for a handling robot provided in an embodiment of this application;

[0071] Figure 2 This is a flowchart illustrating the steps of a handling control method for a handling robot provided in an embodiment of this application.

[0072] Explanation of reference numerals in the attached diagram: 1. Waste disposal module; 2. Handling preparation module; 3. Timber grabbing module; 4. Route planning module; 5. Handling warning module; 6. Pollution monitoring module; 7. Timber placement module. Detailed Implementation

[0073] The following is in conjunction with the appendix Figure 1-2 This application will be described in further detail, but the embodiments of the present invention are not limited thereto.

[0074] This application discloses a handling control system and method for a handling robot.

[0075] In this embodiment, refer to Figure 1 A handling control system for a handling robot, the system comprising:

[0076] Waste processing module 1: Used to establish a processing area, identify wood, obtain wood material data, and analyze whether the wood has deteriorated based on the wood material data. If the analysis shows that the wood has deteriorated, the wood is marked as waste wood and transported to the processing area. If the analysis shows that the wood has not deteriorated, the wood is marked as target wood.

[0077] Handling Preparation Module 2: Used to obtain wood information of the target wood to be processed, obtain wood shape data based on wood information, and select target gripper and automatically change it according to wood shape data;

[0078] Wood grabbing module 3: Used to obtain the stacking structure of the wood pile and the target position of the target wood in the wood pile, analyze the stacking structure, generate the grabbing method of the target wood, and grab the target wood based on the grabbing method;

[0079] Route planning module 4: Used to obtain map information of the lumber mill, obtain the stacking location of the lumber and the processing location of the target lumber based on the map information, stacking location and processing location, and generate lumber transportation route by combining map information, stacking location and processing location.

[0080] Handling Alarm Module 5: Based on the gripping method and wood shape data, it obtains the lateral and longitudinal lengths of the target wood and the handling robot during the handling process; based on the lateral and longitudinal lengths, it projects the area occupied and the travel route in front of the handling robot, detects whether there are people around, and issues an alarm if people are detected.

[0081] Pollution monitoring module 6: Used to monitor the travel route in real time, analyze whether there are pollutants, and if pollutants are found, obtain the pollution impact value of the pollutants on the target wood; determine whether the pollution impact value is greater than the preset pollution impact threshold; if the pollution impact value is greater than the threshold, then avoid the pollutants.

[0082] Wood placement module 7: Used to obtain the wood storage method at the processing location, identify the surface of the target wood, obtain the surface features of the target wood, and adjust the storage posture of the target wood by combining the surface features and the wood storage method.

[0083] It should be noted that the above modules are only the basic modules of this embodiment. In the specific implementation process, some modules may be added, reduced or modified as appropriate without affecting the overall implementation effect.

[0084] Reference Figure 1 The waste treatment module 1 includes a wood identification unit and a waste treatment unit;

[0085] The wood identification unit is used to identify wood, obtain wood material data, analyze and process the wood material data, and obtain the current state of the wood.

[0086] Based on the current state, analyze whether the wood has deteriorated. If the analysis shows that the wood has deteriorated, mark the wood as waste wood. If the analysis shows that the wood has not deteriorated, mark the wood as target wood.

[0087] The waste treatment unit is used to establish a treatment area and transport waste wood to the waste area for centralized processing.

[0088] In practice, if a timber factory needs to move a batch of logs from the storage point to the processing point, before grabbing the logs, it obtains the material data of the logs. If it finds that the current state of the logs is deteriorated and cannot be processed, it marks them as waste wood and transports them to the waste area for centralized disposal.

[0089] Reference Figure 1 The handling preparation module 2 includes a shape analysis unit and a gripper replacement unit;

[0090] The shape analysis unit is used to obtain the wood information of the target wood to be processed, and to obtain the wood shape data based on the wood information;

[0091] The shape data of the wood is analyzed to obtain the shape characteristics of the target wood. Based on the shape characteristics, the stability characteristics of the target wood are obtained. Based on the stability characteristics, the target gripper for grasping the target wood is obtained.

[0092] The gripper changing unit also includes a gripper storage component and an automatic changing component;

[0093] The gripper storage component is used to store different types of grippers;

[0094] The automatic switching component is used to select the target gripper and automatically connect the target gripper to the handling robot.

[0095] In application, if a timber factory needs to move a batch of logs from the stacking point to the processing point, it obtains the log information of the batch of logs, analyzes the log information and finds that the batch of logs is cylindrical, with a length of 2 meters and a diameter of 40 centimeters. Based on the shape characteristics of the batch of logs, it obtains the stability characteristics of the logs and generates the log gripping method as single-log gripping, gripping from the center of gravity of the log. If the handling robot obtains this gripping method and determines that the current gripping component is not suitable, it will automatically change the gripping component to a special gripper for gripping cylindrical logs.

[0096] Reference Figure 1 The wood gripping module 3 includes a structural analysis unit and a gripping method generation unit;

[0097] The structural analysis unit is used to obtain the stacking structure of the timber pile, analyze the stacking structure, and obtain the stress diagram of the timber pile.

[0098] Based on the force diagram of the wood, the key support points of the wood pile are analyzed, and the grasping order of the wood is obtained according to the key support points;

[0099] The gripping method generation unit is used to sequentially obtain the center of gravity position and stacking posture of the target wood according to the gripping order;

[0100] Based on the center of gravity and stacking posture, the gripping angle and gripping position of the target wood are determined, and a gripping method is generated based on the gripping angle and gripping position. The target wood is then gripped based on the gripping method.

[0101] In practice, for example, a timber factory needs to move a batch of logs from a storage point to a processing point. Before grabbing the logs, the stacking structure of the logs is obtained. It is found that the stacking structure of the logs is scattered, and random grabbing may cause collapse. Therefore, the force diagram of the log stack is obtained, and one log is identified as a key support point based on the force diagram. The logs above this log need to be removed before it can be grabbed. The grabbing order of the logs is then obtained. Based on the grabbing order, the center of gravity position and stacking posture of each log are obtained. It is found that the center of gravity position is located in the middle section of the log, while the stacking posture of the logs is different for each log. Based on the center of gravity position and stacking posture, the grabbing position is determined to be the middle section of the log. The grabbing angle is adjusted according to the stacking posture.

[0102] Reference Figure 1 The route planning module 4 includes a map information processing unit and a route generation unit;

[0103] The map information processing unit is used to acquire map information of the timber mill and to obtain a route map for passage based on the map information;

[0104] The route generation unit is used to obtain the stacking location of the timber and the processing location of the target timber. By combining the stacking location, processing location and route map, multiple initial handling routes are obtained.

[0105] Multiple initial transport routes are analyzed to obtain the road complexity and route length of each initial transport route. Based on the road complexity and route length, multiple initial transport routes are filtered to obtain the timber transport routes.

[0106] In practice, if a timber factory needs to move a batch of logs from a storage point to a processing point, the map information of the timber factory is obtained. It is found that the logs are piled up in a relatively scattered manner. Based on the map information, a route map for passage is obtained. Then, the storage location and processing location of the logs are obtained, and multiple initial transport routes are generated. After analyzing the multiple initial transport routes, it is found that most routes have potholes or slippery surfaces and are relatively long. Therefore, the route with the best road conditions and the shortest route is selected as the timber transport route.

[0107] Reference Figure 1 The handling warning module 5 includes a detection unit and a warning unit;

[0108] When the detection unit is used to handle target wood, it treats the target wood and the handling robot as a whole, and detects and obtains the lateral length and longitudinal length of the whole, as well as the travel path of the whole.

[0109] Centered on the entire transport unit, it probes the surrounding area to analyze whether there are personnel present. If personnel are detected, it outputs a personnel signal.

[0110] The warning unit includes a light warning component and an audible warning component;

[0111] The light warning component is used to obtain the shadow that the entire transported object will cast on the ground in the next three seconds, based on the horizontal and vertical lengths of the entire transported object.

[0112] Obtain the shape and size of the shadow, and based on the shape and size, project a laser onto the ground in front of the overall transport route to generate a warning area;

[0113] The sound alert component is used to issue sound alarms to other people based on the obtained personnel information.

[0114] In practice, for example, if a timber factory needs to move a batch of logs from the stacking point to the processing point, during the moving process, the moving robot and the logs are treated as a whole. The length and width of the whole are obtained, and the shadow it casts on the ground within three seconds is determined. Based on the shape and size of the shadow, it is projected on the moving path of the whole, warning the surrounding personnel that the whole will pass through the projected area. The system also analyzes whether there are personnel in the vicinity. If there are personnel, an audible alarm is issued to them to further enhance the warning intensity.

[0115] Reference Figure 1 The pollution monitoring module 6 includes a pollution identification unit and a judgment control unit;

[0116] The pollution identification unit is used to monitor the route in real time, acquire monitoring data, and analyze the monitoring data to determine whether there are pollutants. If pollutants are found, the pollution type of the pollutants is obtained.

[0117] The judgment and control unit is used to simulate the degree of pollution of the target wood after the pollutants are contaminated, and to obtain the pollution impact value of the pollutants on the target wood based on the simulated degree of pollution and pollution type.

[0118] Determine whether the pollution impact value is greater than the preset pollution impact threshold;

[0119] If the pollution impact value is determined to be greater than the threshold, the pollution location of the pollutant is obtained.

[0120] Based on the location of the contamination, the affected transport routes are identified, and these routes are adjusted to avoid the contaminants.

[0121] In application, for example, if a timber factory needs to move a batch of logs from the stacking point to the processing point, when the handling robot moves the logs, it monitors the route and finds a sewage point. If the robot passes through this sewage point, the sewage will splash onto the logs. After analysis, it is found that the amount of sewage splashed onto the logs is small, and the pollution impact value of the sewage point on the log processing is 15, which is lower than the preset pollution impact threshold of 10. Therefore, the affected handling route segment is determined according to the location of the pollutant, and the handling route segment is adjusted to avoid the pollution location of the pollutant.

[0122] Reference Figure 1 The wood placement module 7 includes a surface recognition unit and a placement unit;

[0123] The surface recognition unit is used to acquire surface data of the target wood, analyze the surface data, and obtain the surface features of the target wood;

[0124] The placement unit is used to obtain the wood storage method at the processing location and analyze the stability value of the target wood when it is stored based on surface characteristics;

[0125] Determine whether the stable value is lower than the preset stable threshold;

[0126] If the stable value is determined to be less than the stable threshold, the placement posture of the target wood is obtained by analyzing the surface characteristics of the target wood, and the posture of the target wood is adjusted based on the placement posture.

[0127] In application, for example, a timber factory needs to move a batch of logs from the stacking point to the processing point. After the logs are moved to the processing position, there is a space for placing logs. The logs need to be placed horizontally and stably in this space. However, after analyzing the surface of the logs, it was found that there is a protrusion on one side, which makes the placement unstable. The stability value of the logs when stored is 5, which is lower than the preset stability threshold of 10. Therefore, the placement posture of the logs is adjusted so that the protruding side faces up and the non-protruding side faces down, which can improve the stability of the logs when placed.

[0128] Reference Figure 2 This invention provides a handling control method for a handling robot, using any of the above-described handling robot control systems, the method comprising the following steps:

[0129] S100: Establish a processing area, identify the wood, obtain wood material data, and analyze whether the wood has deteriorated based on the wood material data. If the analysis shows that the wood has deteriorated, mark the wood as waste wood and transport the waste wood to the processing area. If the analysis shows that the wood has not deteriorated, mark the wood as target wood.

[0130] S200: Obtain wood information of the target wood to be processed, obtain wood shape data based on the wood information, and select and automatically change the target gripper according to the wood shape data;

[0131] S300: Obtain the stacking structure of the timber pile and the target position of the target timber in the timber pile, analyze the stacking structure, generate the grasping method of the target timber, and grasp the target timber based on the grasping method;

[0132] S400: Obtain map information of the lumber mill, obtain the stacking location of the lumber and the processing location of the target lumber based on the map information, and generate a lumber transportation route by combining the map information, stacking location and processing location.

[0133] S500: Based on the grasping method and wood shape data, the horizontal and vertical lengths of the target wood and the handling robot during the handling process are obtained; based on the horizontal and vertical lengths, the area occupied and the travel route are projected in front of the handling robot, and the presence of personnel in the surrounding area is detected. If personnel are detected in the surrounding area, an alarm is issued.

[0134] S600: Real-time monitoring of the travel route to analyze whether there are pollutants. If there are pollutants, the pollution impact value of the pollutants on the target wood is obtained. If the pollution impact value exceeds the preset threshold, the pollutants are avoided.

[0135] S700: Obtain the wood storage method at the processing location, identify the surface of the target wood, obtain the surface features of the target wood, and adjust the storage posture of the target wood based on the surface features and the wood storage method.

[0136] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A handling control system for a handling robot, characterized in that, The system includes: Waste processing module (1): Used to establish a processing area, identify wood, obtain wood material data, and analyze whether the wood has deteriorated based on the wood material data. If the wood has deteriorated, the wood is marked as waste wood and transported to the processing area. If the wood has not deteriorated, the wood is marked as target wood. Handling preparation module (2): used to obtain wood information of the target wood to be processed, obtain wood shape data based on the wood information, and select target gripper and automatically change it according to the wood shape data; Wood grabbing module (3): used to obtain the stacking structure of the wood pile and the target position of the target wood in the wood pile, analyze the stacking structure, generate the grabbing method of the target wood, and grab the target wood based on the grabbing method; Route planning module (4): used to obtain map information of the lumber mill, obtain the stacking location of the lumber pile and the processing location of the target lumber based on the map information, and generate a lumber transportation route by combining the map information, stacking location and processing location. Handling warning module (5): Based on the gripping method and wood shape data, it obtains the lateral length and longitudinal length of the target wood and the handling robot during the handling process; based on the lateral length and the longitudinal length, it projects the area occupied and the travel route in front of the handling robot, detects whether there are people around, and if people are detected, it issues an alarm. Pollution monitoring module (6): used to monitor the route in real time, analyze whether there are pollutants, and if pollutants are found, obtain the pollution impact value of the pollutants on the target wood; determine whether the pollution impact value is greater than the preset pollution impact threshold, and if the pollution impact value is greater than the threshold, avoid the pollutants; Wood placement module (7): Used to obtain the wood storage method of the processing position, identify the surface of the target wood, obtain the surface features of the target wood, and adjust the storage posture of the target wood in combination with the surface features and the wood storage method.

2. The handling control system for a handling robot according to claim 1, characterized in that: The waste treatment module (1) includes a wood identification unit and a waste treatment unit; The wood identification unit is used to identify wood, obtain wood material data, and analyze and process the wood material data to obtain the current state of the wood. Based on the current state, it analyzes whether the wood has deteriorated. If the analysis shows that the wood has deteriorated, the wood is marked as waste wood. If the analysis shows that the wood has not deteriorated, the wood is marked as target wood. The waste treatment unit is used to establish a treatment area and transport the waste wood to the waste area for centralized treatment.

3. The handling control system for a handling robot according to claim 1, characterized in that: The transport preparation module (2) includes a shape analysis unit and a gripper replacement unit; The shape analysis unit is used to obtain wood information of the target wood to be processed, and to obtain wood shape data based on the wood information; The shape data of the wood is analyzed to obtain the shape characteristics of the target wood. Based on the shape characteristics, the stability characteristics of the target wood are obtained. Based on the stability characteristics, the target gripper for grasping the target wood is obtained. The gripper replacement unit also includes a gripper storage component and an automatic replacement component; The gripper storage component is used to store different types of grippers; The automatic switching component is used to select a target gripper and automatically connect the target gripper to the handling robot.

4. The handling control system for a handling robot according to claim 1, characterized in that: The wood gripping module (3) includes a structural analysis unit and a gripping method generation unit; The structural analysis unit is used to obtain the stacking structure of the timber pile, analyze the stacking structure, and obtain the stress diagram of the timber pile. Based on the stress diagram of the wood, the key support points of the wood pile are analyzed, and the grasping order of the wood is obtained according to the key support points; The grasping method generation unit is used to sequentially obtain the center of gravity position and stacking posture of the target wood according to the grasping order; Based on the center of gravity position and the stacking posture, the gripping angle and gripping position of the target wood are determined, and a gripping method is generated based on the gripping angle and the gripping position, and the target wood is gripped based on the gripping method.

5. The handling control system for a handling robot according to claim 1, characterized in that: The route planning module (4) includes a map information processing unit and a route generation unit; The map information processing unit is used to acquire map information of the timber plant and obtain a route map for passage based on the map information; The route generation unit is used to obtain the stacking position of the timber and the processing position of the target timber, and combine the stacking position, the processing position and the route map to obtain multiple initial handling routes; The initial transport routes are analyzed to obtain the road complexity and route length of each initial transport route. Based on the road complexity and route length, the initial transport routes are filtered to obtain the timber transport routes.

6. The handling control system for a handling robot according to claim 1, characterized in that: The handling warning module (5) includes a detection unit and a warning unit; When the detection unit is used to handle the target wood, it treats the target wood and the handling robot as a whole and detects and obtains the lateral length and longitudinal length of the whole, as well as the travel path of the whole. Centered on the entire transport unit, it probes the surrounding area to analyze whether there are personnel present. If personnel are detected, it outputs a personnel signal. The warning unit includes a light warning component and an sound warning component; The light warning component is used to obtain the shadow that the transport unit will sweep across the ground in the next three seconds based on the horizontal length and the vertical length of the transport unit; The shape and size of the shadow are obtained, and based on the shape and size, a laser projection is made on the ground in front of the overall transport route to generate a warning area; The sound alert component is used to issue sound alarms to other personnel based on the acquired personnel information.

7. The handling control system for a handling robot according to claim 1, characterized in that: The pollution monitoring module (6) includes a pollution identification unit and a judgment control unit; The pollution identification unit is used to monitor the travel route in real time, acquire monitoring data, and analyze the monitoring data to determine whether there are pollutants. If pollutants are found, the pollution type of the pollutants is obtained. The judgment and control unit is used to obtain the pollution impact value of the pollutants on the target wood based on the simulated pollution degree after the pollutants are simulated to be contaminated, and based on the simulated pollution degree and the pollution type. Determine whether the pollution impact value is greater than a preset pollution impact threshold; If it is determined that the pollution impact value is greater than the threshold, then the pollution location of the pollutant is obtained; Based on the location of the contamination, the affected transport route segment is obtained, and the transport route segment is adjusted to avoid the contaminants.

8. The handling control system for a handling robot according to claim 1, characterized in that: The wood placement module (7) includes a surface recognition unit and a placement unit; The surface recognition unit is used to acquire surface data of the target wood, analyze the surface data, and obtain the surface features of the target wood. The placement unit is used to obtain the wood storage method at the processing location and analyze the stability value of the target wood when it is stored based on the surface characteristics; Determine whether the stable value is less than a preset stable threshold; If it is determined that the stable value is less than the stable threshold, the placement posture of the target wood is obtained based on the surface characteristics of the target wood, and the posture of the target wood is adjusted based on the placement posture.

9. A handling control method for a handling robot, said method being implemented based on a handling control system for a handling robot as described in any one of claims 1-8, characterized in that, The method includes the following steps: A processing area is established to identify the wood, obtain wood material data, and analyze whether the wood has deteriorated based on the wood material data. If the analysis shows that the wood has deteriorated, the wood is marked as waste wood and transported to the processing area. If the analysis shows that the wood has not deteriorated, the wood is marked as target wood. Obtain wood information of the target wood to be processed, obtain wood shape data based on the wood information, and select and automatically change the target gripper according to the wood shape data; The stacking structure of the timber pile and the target position of the target timber in the timber pile are obtained. The stacking structure is analyzed to generate a grasping method for the target timber, and the target timber is grasped based on the grasping method. Obtain map information of the timber yard, and based on the map information, obtain the stacking location of the timber and the processing location of the target timber. Combine the map information, stacking location, and processing location to generate a timber transportation route. Based on the grasping method and the shape data of the wood, the lateral and longitudinal lengths of the target wood and the handling robot during the handling process are obtained; based on the lateral and longitudinal lengths, the area occupied and the travel route are projected in front of the handling robot, and the presence of personnel in the surrounding area is detected. If personnel are detected in the surrounding area, an alarm is issued. The route is monitored in real time to analyze whether there are pollutants. If pollutants are found, the pollution impact value of the pollutants on the target wood is obtained. It is then determined whether the value of the pollution impact is greater than a preset pollution impact threshold. If the value of the pollution impact is greater than the threshold, the pollutants are avoided. The storage method of the wood at the processing location is obtained, the surface of the target wood is identified, the surface features of the target wood are obtained, and the storage posture of the target wood is adjusted in combination with the surface features and the wood storage method.

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