A method for dividing and calculating the working range of a material grabber for handling bulk materials.

Abstract

This invention relates to a method for partitioning and calculating the working range of a material handling machine for bulk material handling, belonging to the field of material handling technology. It aims to improve handling efficiency and safety while reducing energy consumption. The method establishes a coordinate system for the material handling machine and determines the maximum and minimum handleable range, thereby dividing the area into an operable zone, an unsafe zone, an inefficient handling zone, and a recommended handling zone. A point set on the surface of the material pile is acquired through sensing sensors, and its intersection with the point set of the safe operating zone is calculated to obtain the point set of the operable zone. Furthermore, a complement operation is performed with the point set of the inefficient handling zone to obtain the point set of the recommended handling zone. This invention, through reasonable partitioning and calculation, provides support for the motion planning and task scheduling of the material handling machine's working arm, effectively improving handling efficiency and safety, reducing energy consumption, and achieving intelligent operation.

Description

Technical Field

[0001] This invention belongs to the field of material handling technology and relates to a method for dividing and calculating the working range of a material grabber for handling bulk materials. Background Technology

[0002] Traditional material handling machine operations rely heavily on manual experience, lacking precise division of the work area and targeted research. This leads to the following problems during material handling machine operation:

[0003] The grabbing action of the material grabber is blind and cannot accurately locate the best grabbing point, resulting in low grabbing efficiency and quality, and easily causing waste of loose material.

[0004] The unclear division of the operating area of ​​the material handling machine makes it easy for safety accidents such as collisions and falling objects to occur, causing damage to personnel and equipment.

[0005] An unreasonable motion path planning of the material handling machine leads to unnecessary movements and energy consumption, increasing operating costs.

[0006] To address the aforementioned issues, it is necessary to scientifically define the operating range of the material grabber and conduct targeted research and optimization to improve grabbing efficiency and safety while reducing energy consumption. Summary of the Invention

[0007] In view of this, the purpose of this invention is to provide a method for partitioning and calculating the working range of a material grabber for bulk material grabbing. A coordinate system for the material grabber is established, and an approximate spherical working range is constructed based on the physical characteristics of the material grabber. Then, inefficient and unsafe working areas are further refined using human experience. A set of surface points on the bulk material pile is acquired through sensing sensors, and the suggested grabbing area of ​​the material grabber is obtained by intersecting the refined working range with the pile point set.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A method for dividing and calculating the working range of a material grabber for handling bulk materials, the method comprising the following steps:

[0010] Establish a coordinate system for the material grabber, with the center of the material grabber as the origin and the positive x-axis direction directly in front of the rotary platform. Use the right-hand rule to determine the y-axis and z-axis.

[0011] The maximum gripping range is determined to be a sphere, with the center point of the gripper as the center and the maximum gripping radius as the radius;

[0012] The minimum gripping range is determined to be a sphere, with the center point of the gripper as the center and the minimum gripping radius as the radius;

[0013] Calculate the set of points in the operable region, which is the complement of the set of points in the maximum crawlable range relative to the set of points in the minimum crawlable range;

[0014] Calculate the unsafe area point set, which is the complement of the ball cone's relative minimum grabbable range. The ball cone's bottom radius is equal to the maximum grabbable radius, and the ball cone's height is adjustable.

[0015] Calculate the set of points in the safe operating region, which is the complement of the set of points in the operating region relative to the set of points in the unsafe region;

[0016] Obtain the point set on the surface of the material pile;

[0017] Calculate the grabbable area point set, which is the intersection of the safe operating area point set and the material pile surface point set;

[0018] Define the inefficient grabbing area as a cuboid with length and width equal to the maximum grabbing radius, adjustable height, and intersection with the set of points in the operable area;

[0019] The calculation suggests a set of crawlable region points, which is the complement of the relatively inefficient crawlable region point set.

[0020] Furthermore, the ratio of the height of the cone to the height of the crown in the unsafe area point set is adjustable.

[0021] Furthermore, the height of the inefficient grabbing area is adjustable.

[0022] Furthermore, the maximum grabbable radius is r 最大 All points (x, y, z) inside the sphere satisfy the following condition: x 2 +y 2 +z 2 ≤r 最大 2 And z≥0, we obtain the point set S within the maximum crawlable range. 最大可抓取 ;

[0023] The minimum grabbable radius is r 最小 All points (x, y, z) inside the sphere satisfy the following condition: x 2 +y 2 +z 2 ≤r 最小 2 And z≥0, we obtain the point set S within the smallest crawlable range. 最小可抓取 ;

[0024] The operable region point set satisfies the following condition: S 可运行 =S 最大可抓取 -S 最小可抓取 S 最大可抓取 S represents the set of points with the maximum crawlable range. 最小可抓取 r represents the set of points with the smallest crawlable range; 最小2 <x 2 +y 2 +z 2 ≤r 最大 2 And z≥0;

[0025] The set of points inside the cone is represented as (x = r * cos(θ) * (1 - z / h), y = r * sin(θ) * (1 - z / h), z = k * h), where h is the height of the cone, θ is the polar angle of the point on the bottom surface of the cone, r is the distance from any point on the bottom surface of the cone to the center of the cone, and k is a constant between [0,1] representing the proportion of the cone's height to the cone's height. The unsafe region point set S 不安全 The following conditions must be met:

[0026] (S 不安全 =(x=r*cos(θ)*(1-z / h), y=r*sin(θ)*(1-z / h), z=k*h), and x 2 +y 2 +z 2 >r 最小 2 And z≥0;

[0027] Safe operating area point set S 可安全运行 The following conditions must be met:

[0028] r 最小 2 <x 2 +y 2 +z 2 ≤r 最大 2 And (x,y,z){(x=r*cos(θ)*(1-z / h), y=r*sin(θ)*(1-z / h), z=k*h), and

[0029] x 2 +y 2 +z 2 >r 最小 2 , and z≥0};

[0030] Identify inefficient crawling region S 低效抓取 Let be a cuboid, and let the point (x, y, z) inside the cuboid satisfy the following condition: -r 最大 ≤x≤r 最大 -r 最大 ≤y≤r 最大 , 0≤z≤h 低效抓取 The length and width of the cuboid are both r. 最大 The height is h 低效抓取 ;

[0031] The point set S of the grabbable region 可抓取 Satisfy: S 可抓取 =S 可安全运行 ∩S 料堆 S 料堆 For material pile collection;

[0032] It is recommended to capture the region point set S. 建议抓取 Satisfy: S 建议抓取 =S 可抓取 -S 低效抓取 .

[0033] The beneficial effects of this invention are as follows:

[0034] (1) By dividing the working range of the material grabber into zones and calculating the optimal grabbing area, the material grabber can accurately locate the optimal grabbing point, improve grabbing efficiency and quality, and reduce waste of loose materials.

[0035] (2) By dividing unsafe areas and restricting the operation of the material grabber in these areas, it is possible to effectively avoid safety accidents such as collisions and falls, and ensure the safety of personnel and equipment.

[0036] (3) By optimizing the motion path planning of the material grabber, unnecessary movements and energy consumption can be reduced, operating costs can be lowered, and economic benefits can be improved.

[0037] (4) This invention provides a foundation for intelligent operation of the material grabber, which can realize automatic planning of grabbing path and automatic control of grabbing action, thereby improving operation efficiency and safety.

[0038] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0039] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0040] Figure 1 This is a schematic diagram illustrating the principle of the present invention;

[0041] Figure 2 This is a flowchart of the present invention. Detailed Implementation

[0042] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0043] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0044] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0045] like Figure 1 As shown, the bulk material grabbing operation area of ​​the material grabber is divided into an operable area, an unsafe area, an inefficient grabbing area, and a recommended grabbing area. The definitions of each area are as follows:

[0046] Runnable area (e.g.) Figure 1 The blue area represents the area where the working arm of the material handling machine can move normally.

[0047] Unsafe areas (such as) Figure 1 The red area in the middle represents the area where loose materials may fall during the grabbing process. This area was calculated through experiments to prevent safety accidents.

[0048] Inefficient crawling areas (such as...) Figure 1 The yellow area represents a region where the material handling machine has low efficiency and quality in grasping materials.

[0049] Recommended capture area (e.g.) Figure 1 The green area in the middle is the area where the grabber on the material pile has high grabbing efficiency and quality.

[0050] like Figure 2 As shown, the calculation methods for each region are as follows:

[0051] With the center of the gripper as the origin and the front of the rotary platform as the positive x-axis, the gripper coordinate system is established using the right-hand rule. All points described below use this coordinate system.

[0052] S1: The maximum gripping range is defined as the maximum range that the attachment end point can reach, which is a sphere with the center point of the gripper as the center and the maximum gripping radius r. 最大 Let x be the radius, then all points (x, y, z) inside the sphere satisfy the following condition: x 2 +y 2 +z 2 ≤r 最大 2 And z≥0, we obtain the point set S within the maximum crawlable range. 最大可抓取 ;

[0053] The minimum graspable range is defined as the minimum reachable area of ​​the attachment's end point, which is a sphere with a minimum graspable radius r. 最小 Let x be the radius, then all points (x, y, z) inside the sphere satisfy the following condition: x 2 +y 2 +z 2 ≤r 最小 2 If z≥0, then the set of points S within the smallest grabbable range can be obtained. 最小可抓取 .

[0054] S2: Calculate the workable region point set S 可运行 (like Figure 1 (Blue area) is used to calculate the maximum crawlable point set S. 最大可抓取 The set of points S with a relative minimum crawlable range 最小可抓取 The complement of S is obtained as: 可运行 =S 最大可抓取 -S 最小可抓取 That is, r 最小 2 <x 2 +y 2 +z 2 ≤r 最大 2 , and z≥0.

[0055] S3: Calculate the point set S of the safe operating region 可安全运行 By calculating the set of points S in the operable region 可运行 The set of relatively unsafe region points S 不安全 The complement of S is obtained as: 可安全运行 =S 可运行 -S 不安全 .

[0056] Unsafe areas such as Figure 1 The red area is the complement of the minimum graspable range (sphere) of a cone. The set of points inside the cone can be represented as (x = r * cos(θ) * (1 - z / h), y = r * sin(θ) * (1 - z / h), z = k * h), where h is the height of the cone, θ is the polar angle of the point on the bottom surface of the cone, r is the distance from any point on the bottom surface of the cone to the center of the sphere, and k is a constant between [0,1] representing the proportion of the cone's height to the cone's height. We can obtain S. 不安全 =(x=r*cos(θ)*(1-z / h), y=r*sin(θ)*(1-z / h), z=k*h), and x 2 +y 2 +z 2 >r 最小 2 And z≥0.

[0057] S 可安全运行 Represented as r 最小 2 <x 2 +y 2 +z 2 ≤r 最大 2 , and (x,y,z){(x=r*cos(θ)*(1-z / h), y=r*sin(θ)*(1-z / h),

[0058] z = k * h), and x 2 +y 2 +z 2 >r 最小 2 , and z≥0}.

[0059] S4: Calculate the point set S of the grabbable region. 可抓取 By calculating the set of safe region points S 可安全运行 Material pile point set S 料堆 The intersection of the two sets of S is obtained as follows: 可抓取 =S 可安全运行 ∩S 料堆 .

[0060] S5: Calculate the point set S of the suggested capture region. 建议抓取 By calculating the captureable range of points S 可安全运行 Relatively inefficient point set S 低效抓取 The complement of S is obtained as: 建议抓取 =S 可抓取 -S 低效抓取 .

[0061] S 低效抓取It is a cuboid with the origin as the center of its base (both length and width are r). 最大 The height is h 低效抓取 (Its side length is perpendicular or parallel to the three axes of the coordinate system), and a point (x, y, z) within the cuboid satisfies (-r 最大 ≤x≤r 最大 -r 最大 ≤y≤r 最大 , 0≤z≤h 低效抓取 ) and S 可运行 The intersection of.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for dividing and calculating the working range of a material grabbing machine for handling bulk materials, characterized in that: The method includes the following steps: Establish a coordinate system for the material grabber, with the center of the material grabber as the origin and the positive x-axis direction directly in front of the rotary platform. Use the right-hand rule to determine the y-axis and z-axis. The maximum gripping range is determined to be a sphere, with the center point of the gripper as the center and the maximum gripping radius as the radius; The minimum gripping range is determined to be a sphere, with the center point of the gripper as the center and the minimum gripping radius as the radius; Calculate the set of points in the operable region, which is the complement of the set of points in the maximum crawlable range relative to the set of points in the minimum crawlable range; Calculate the unsafe area point set, which is the complement of the ball cone's relative minimum grabbable range. The ball cone's bottom radius is equal to the maximum grabbable radius, and the ball cone's height is adjustable. Calculate the set of points in the safe operating region, which is the complement of the set of points in the operating region relative to the set of points in the unsafe region; Obtain the point set on the surface of the material pile; Calculate the grabbable area point set, which is the intersection of the safe operating area point set and the material pile surface point set; Define the inefficient grabbing area as a cuboid with length and width equal to the maximum grabbing radius, adjustable height, and intersection with the set of points in the operable area; The calculation suggests a set of points to be crawled from the region, which is the complement of the relatively inefficient set of points to be crawled from the region that can be crawled from. The maximum grabbable radius is r 最大 All points inside the sphere ( x , y , z The following conditions must be met: x 2 + y 2 + z 2 ≤ r 最大 2 And z≥0, we obtain the set of points within the maximum crawlable range. S 最大可抓取 ; Minimum grab radius is r 最小 All points inside the sphere ( x , y , z The following conditions must be met: x 2 + y 2 + z 2 ≤ r 最小 2 And z≥0, we obtain the point set S within the smallest crawlable range. 最小可抓取 ; The operable region point set must meet the following conditions: S 可运行 = S 最大可抓取 - S 最小可抓取 ; S 最大可抓取 This represents the set of points representing the maximum crawlable area. S 最小可抓取 The set of points representing the minimum crawlable area; r 最小 2 <x 2 +y 2 +z 2 ≤ r 最大 2 And z≥0; The set of points inside the cone of the ball is represented as ( x = r * cos (θ)*(1- z / h ), y = r * sin ( θ )*(1- z / h ), z = k * h ),in h For the height of the crown, θ Let the point be the polar angle on the bottom surface of the spherical cap. r Let be the distance from any point on the bottom surface of the cone to the center of the cone. k Let be a constant between [0,1], representing the proportion of the height of the cone to the height of the crown, and the set of unsafe region points. S 不安全 The following conditions must be met: ( S 不安全 =( x = r * cos ( θ )*(1- z / h ), y = r * sin ( θ )*(1- z / h ), z = k * h ),and x 2 + y 2 + z 2 > r 最小 2 And z≥0; Safe operating area point set S 可安全运行 The following conditions must be met: r 最小 2 < x 2 + y 2 + z 2 ≤ r 最大 2 and( x , y , z )∉{( x = r * cos ( θ )*(1- z / h ), y = r * sin ( θ )*(1- z / h ), z = k * h ),and x 2 + y 2 + z 2 > r 最小 2 ,and z ≥0}; Identify inefficient crawling areas S 低效抓取 Let be a cuboid, and let be a point inside the cuboid ( x , y , z The following conditions must be met: r 最大 ≤ x ≤ r 最大 , - r 最大 ≤ y ≤ r 最大 , 0≤ z ≤ h 低效抓取 The length and width of the cuboid are both r 最大 Gao Wei h 低效抓取 ; Point set of crawlable region S 可抓取 satisfy: S 可抓取 = S 可安全运行 ∩ S 料堆 ; S 料堆 For material pile collection; It is recommended to capture regional point sets. S 建议抓取 satisfy: S 建议抓取 = S 可抓取 - S 低效抓取 .

2. The method for dividing and calculating the working range of a material grabber for bulk material handling according to claim 1, characterized in that: The ratio of the height of the cone to the height of the crown in the unsafe area point set is adjustable.

3. The method for dividing and calculating the working range of a material grabber for bulk material handling according to claim 1, characterized in that: The height of the inefficient grabbing area is adjustable.

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