Unmanned warehouse area intelligent travelling crane steel plate feeding method based on laser radar

Abstract

According to the unmanned warehouse area intelligent travelling crane steel plate feeding method based on the laser radar, a travelling crane grabs a steel plate according to the main laser radar, then the auxiliary laser radar is started to accurately obtain the geometric center of the grabbed steel plate, then the necessary offset of the travelling crane during discharging is determined, and therefore accurate discharging is achieved. The auxiliary time is shortened, the grabbing efficiency is improved, in the moving process of the crane after grabbing, the geometric center of the grabbed steel plate is accurately determined through the auxiliary laser radar, then the offset of the crane is adjusted according to data determined by the auxiliary laser radar after the grabbed steel plate is moved to the designated position, accurate discharging can be achieved, and the working efficiency is improved. In the whole process, the accuracy requirement for grabbing is shortened, and the auxiliary time is shortened.

Description

Technical Field

[0001] The present invention relates to the field of crane technology, and in particular to an unmanned warehouse intelligent crane steel plate loading method based on laser radar. Background Art

[0002] In the operation of traditional unmanned warehouses, the intelligent driving uses machine vision or laser radar to collect data on the steel plate pile, extract the contour of the top steel plate, and then calculate the geometric center of the top steel plate. The driving machine grabs the center position of the steel plate according to the geometric center coordinates and then puts the steel plate in the target position. The difficulty of this method is to accurately distinguish the data information of the top steel plate of the steel plate pile and the lower steel plate pile, so as to correctly and accurately extract the contour of the top steel plate.

[0003] In flexible manufacturing workshops, the characteristics of multiple varieties and small batches also apply to steel plate materials in the unmanned warehouse area of ​​the material preparation production line. The wide range of steel plate thickness and high recognition accuracy requirements have troubled many recognition system engineers working on the front line of the workshop.

[0004] According to the marginal diminishing effect, as the thickness of the steel plate decreases, requiring the same recognition accuracy will greatly increase the production cost of the entire system. At the same time, when the steel plate is thin, the recognition system may not be able to correctly distinguish the top steel plate from the lower steel plate pile, return wrong data, and cause safety accidents. Summary of the invention

[0005] The purpose of the present invention is to address the defects of the prior art, starting from the demand of smart factories for intelligent crane loading accuracy, focusing on analyzing the difficult problems in traditional methods, and providing an unmanned warehouse area intelligent crane steel plate loading method based on laser radar, to solve the technical difficulty of how to correctly and accurately extract the contour of the top steel plate, reduce system costs, and improve system safety.

[0006] The technical purpose of the present invention is achieved through the following technical scheme: an unmanned warehouse intelligent driving steel plate feeding method based on laser radar, comprising: The crane moves to the position above the steel plate in the reclaiming warehouse according to the coordinates of the reclaiming warehouse and the placement rules of the steel plates in the warehouse; Start the main laser radar to scan and identify the height information of the steel plate pile and the geometric center information of the top steel plate; Grab the steel plate according to the total height information of the steel plate pile and the geometric center information of the top steel plate fed back by the main laser radar, and then move it to the highest position; Start the auxiliary laser radar for scanning. The auxiliary laser radar finds the outer corners of the gripping mechanism and the outer corners of the gripping steel plate through identification, calculates the distance between the two in the length direction and the width direction of the gripping steel plate, and calculates the gripping position offset of the gripping steel plate in combination with the size of the gripping steel plate and the size of the electromagnetic disk, and feeds the steel plate gripping position offset back to the driving machine; The crane calculates based on the offset of the grabbing position of the grabbed steel plate and the position of the unloading warehouse, and places the steel plate accurately at the designated position.

[0007] Preferably, the grabbing mechanism of the vehicle includes a fixed plate and a plurality of electromagnetic disks connected to the bottom of the fixed plate, and the main laser radar is installed in the center of the fixed plate.

[0008] Preferably, the auxiliary laser radar is obliquely installed on the edge of the fixed plate through a support rod.

[0009] Preferably, it includes four auxiliary laser radars, which are respectively installed on the four outer edges of the fixed plate through support rods. After the steel plate is grabbed, the four auxiliary laser radars are used to detect the edge data of the grabbed steel plate, and then calculate the geometric center of the grabbed steel plate, and after matching the determined geometric center with the geometric center of the designated unloading position, determine the offset of the vehicle during unloading.

[0010] Compared with the prior art, the present invention has the following beneficial effects: When the present invention starts the main laser radar for scanning, the identification object is the entire steel plate pile. Although it is still difficult to correctly extract the top steel plate information at this time, the intelligent driving has lower requirements on the identification accuracy at this time, and it only needs to ensure that there is no risk of falling when grabbing the steel plate. This method greatly reduces the requirements for the main laser radar and has obvious cost savings. At the same time, the present invention adds an auxiliary laser radar. When the auxiliary laser radar is started for scanning, the identification object is a single steel plate that has been grabbed. At this time, the steel plate has been separated from the steel plate pile in the warehouse area, and it is easy to extract the steel plate contour information and find the geometric center position of the steel plate.

[0011] Compared with the traditional method, this method has lower technical requirements for the recognition system, avoiding the technical difficulty of the traditional method in accurately distinguishing the top steel plate data in the steel plate pile data, and reducing the hardware cost and software development cost of the recognition system. Compared with the traditional method of main radar scanning once, this secondary scanning solution has a higher success rate and data stability, can meet the recognition requirements of steel plates in a larger size range, is conducive to the safety of workshop production, and improves the flexibility of the production workshop.

[0012] In the entire steel plate lifting process, the use of this method only requires the start of an auxiliary radar scan after grabbing the plate, and does not require the movement of various mechanisms such as trolleys, cars, and hoists. It has little impact on the production process and production rhythm of the automatic production line. Compared with traditional methods, this method's auxiliary radar is closer to the material during secondary identification and is basically fixed. It has lower requirements on the surface finish, flatness, and workshop environment brightness of steel plate materials in unmanned warehouses, and is more adaptable to the workshop production environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of the invention.

[0014] In the figure: 10, grasping mechanism; 11, fixing plate; 12, electromagnetic disk; 13, main laser radar; 14, auxiliary laser radar; 15, support rod; a, grasped steel plate. DETAILED DESCRIPTION

[0015] In order to enable those skilled in the art to better understand the technical solution of the present invention, the preferred implementation scheme of the present invention is described below in conjunction with specific embodiments. However, it should be understood that the drawings are only used for exemplary descriptions and cannot be understood as limitations on this patent; in order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted; the positional relationship described in the drawings is only used for exemplary descriptions and cannot be understood as limitations on this patent.

[0016] As an embodiment of the present invention, see the attached Figure 1 This embodiment provides a method for loading steel plates in an unmanned warehouse area by intelligent driving based on laser radar, comprising: The crane moves to the position above the steel plate in the reclaiming warehouse according to the coordinates of the reclaiming warehouse and the placement rules of the steel plates in the warehouse. At this time, the crane hoist is at the upper limit position; Start the main laser radar to scan and identify the height information of the steel plate pile and the geometric center information of the top steel plate. At this time, the allowable error range of the geometric center of the top steel plate is very large, and it is only necessary to ensure that there is no risk of falling when the driving vehicle grabs the steel plate; Grab the steel plate according to the total height information of the steel plate pile and the geometric center information of the top steel plate fed back by the main laser radar, and raise it to the highest position after grabbing the steel plate. At this time, the top steel plate is separated from the steel plate pile; The auxiliary laser radar is started to scan. The auxiliary laser radar finds the outer angle of the contour of the grasping mechanism 10 and the outer angle of the contour of the grasped steel plate a by identification, calculates the distance between the two in the length direction and the width direction of the grasped steel plate a, and calculates the grasping position offset of the grasped steel plate a by combining the size of the grasped steel plate a and the size of the electromagnetic disk, and feeds the steel plate grasping position offset back to the driving machine; The crane calculates based on the offset of the grabbing position of the grabbed steel plate and the position of the unloading warehouse, and places the steel plate accurately at the designated position.

[0017] In some preferred embodiments, Figure 1 As shown, the grabbing mechanism 10 of the driving vehicle includes a fixed plate 11 and a plurality of electromagnetic disks 12 connected to the bottom of the fixed plate 11. The main laser radar 13 is installed in the center of the fixed plate 11. The main laser radar 13 is mainly used to preliminarily determine the geometric center of the steel plate to be grabbed, so that the force of the grabbing mechanism 10 is relatively uniform after the steel plate is grabbed, and at the same time, the safety of the state after grabbing is ensured. On this basis, the accuracy requirements for the geometric center in the grabbing process are reduced, thus shortening the auxiliary time and improving the grabbing efficiency. In the process of driving after grabbing, the auxiliary laser radar 14 is used to accurately determine the geometric center of the grabbed steel plate a, and then the grabbed steel plate is moved to the specified position. The offset of the driving vehicle is adjusted according to the data determined by the auxiliary laser radar 14, and accurate unloading can be achieved. The whole process shortens the accuracy requirements of grabbing and shortens the auxiliary time.

[0018] In some preferred embodiments, the auxiliary laser radar 14 is obliquely installed on the edge of the fixed plate 11 through the support rod 15. The preferred installation method is that the support rod 15 is tilted upward, and the auxiliary laser radar is installed on the top of the support rod 15, so that the auxiliary laser radar 14 is located on the upper part of the fixed plate 11. This can not only prevent the auxiliary laser radar 14 from being damaged during the process of grabbing the steel plate while driving, but also make it easier for the auxiliary laser radar 14 to collect the edge data of the grabbed steel plate and determine its geometric center.

[0019] In some other preferred embodiments, four auxiliary laser radars 14 are included. The four auxiliary laser radars 14 are respectively installed on the four outer edges of the fixed plate 11 through support rods 15. After the steel plate is grabbed, the four auxiliary laser radars 14 are used to detect the edge data of the grabbed steel plate a, and then calculate the geometric center of the grabbed steel plate a, and after matching the determined geometric center with the geometric center of the specified unloading position, determine the offset of the vehicle during unloading.

[0020] It is understandable that the present invention starts from the demand of smart factories for intelligent crane loading accuracy, focuses on analyzing the difficult problems in traditional methods, and provides an unmanned warehouse intelligent crane steel plate loading method based on laser radar. On the basis of the traditional method that only relies on laser radar for one-time identification to obtain steel plate data, we creatively propose a method of main laser radar rough measurement and auxiliary laser radar secondary calibration, avoiding the technical difficulty of the traditional method that needs to accurately distinguish the top steel plate data in the steel plate pile data, greatly reducing the system cost and improving the system safety.

[0021] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A method for loading steel plates in an unmanned warehouse area with intelligent crane based on laser radar, characterized in that: include: The crane moves to the position above the steel plate in the reclaiming warehouse according to the coordinates of the reclaiming warehouse and the placement rules of the steel plates in the warehouse; Start the main laser radar to scan and identify the height information of the steel plate pile and the geometric center information of the top steel plate; Grab the steel plate according to the total height information of the steel plate pile and the geometric center information of the top steel plate fed back by the main laser radar, and then move it to the highest position; Start the auxiliary laser radar for scanning. The auxiliary laser radar finds the outer corners of the gripping mechanism and the outer corners of the gripping steel plate through identification, calculates the distance between the two in the length direction and the width direction of the gripping steel plate, and calculates the gripping position offset of the gripping steel plate in combination with the size of the gripping steel plate and the size of the electromagnetic disk, and feeds the steel plate gripping position offset back to the driving machine; The crane calculates based on the offset of the grabbing position of the grabbed steel plate and the position of the unloading warehouse, and places the steel plate accurately at the designated position.

2. The method for loading steel plates in an unmanned warehouse area by intelligent crane based on laser radar according to claim 1, characterized in that: The grabbing mechanism of the vehicle includes a fixed plate and a plurality of electromagnetic disks connected to the bottom of the fixed plate, and the main laser radar is installed in the center of the fixed plate.

3. The method for loading steel plates in an unmanned warehouse area by intelligent crane based on laser radar according to claim 2 is characterized in that: The auxiliary laser radar is installed obliquely on the edge of the fixed plate through a support rod.

4. The method for loading steel plates in an unmanned warehouse area by intelligent crane based on laser radar according to claim 3 is characterized in that: It includes four auxiliary laser radars, which are respectively installed on the four outer edges of the fixed plate through support rods. After the steel plate is grabbed, the four auxiliary laser radars are used to detect the edge data of the grabbed steel plate, and then calculate the geometric center of the grabbed steel plate, and after matching the determined geometric center with the geometric center of the specified unloading position, determine the offset of the vehicle during unloading.

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