Leveling method, system, device and storage medium for lifting mechanism of aerial transport vehicle

Abstract

The present application belongs to the technical field of controlling an aerial transport vehicle, and discloses a method, system, device and storage medium for leveling a lifting mechanism of an aerial transport vehicle. The method comprises: obtaining task information of the lifting mechanism of the aerial transport vehicle, wherein the task information comprises a target grasping object, a target position and a target operation, controlling the lifting mechanism of the aerial transport vehicle to move to the target position, and based on the target operation, controlling the lifting mechanism of the aerial transport vehicle to grasp or lower the target grasping object, and obtaining real-time posture information of the grasping mechanism in real time during the grasping or lowering process, constructing a grasping mechanism dynamics model according to the real-time posture information, and adjusting the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process to level the grasping mechanism, and leveling the grasping mechanism of the aerial transport vehicle through the leveling system of the lifting mechanism of the aerial transport vehicle and the grasping mechanism dynamics model constructed based on the real-time posture information, thereby improving the transportation efficiency of the aerial transport vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of controlling an aerial transport vehicle, and in particular to a method, system, device and storage medium for leveling a lifting mechanism of an aerial transport vehicle. Background Art

[0002] Overhead Hoist Transport (OHT) is a highly intelligent transport vehicle that can run freely on the transport track. It is the transport execution body of the Automatic Material Handling System (AMHS). It mainly runs above the production equipment. The lifting mechanism controls the lifting and lowering of the grasping mechanism to grasp, transport and release the wafer box at the predetermined position, thereby transporting the wafer box from one place to the designated place as required.

[0003] In existing OHT, the control system of the lifting mechanism and the grasping mechanism are usually flexibly connected by three or four belts as the transmission mechanism. The total radius of the belt after winding around the reel will change with the lifting and lowering of the belt, and the belts will age to varying degrees, making it difficult to ensure that each belt is synchronously and evenly wound on the reel. As a result, the grasping mechanism will experience a certain degree of shaking, swinging, and tilting during the lifting process due to the different lengths of the belts, which will cause damage to the wafers during transportation, thereby reducing the chip yield. In addition, problems such as shaking, swinging, and tilting will prevent the grasping mechanism from accurately reaching the predetermined position for grasping and releasing operations, requiring multiple adjustments to the grasping mechanism, which seriously affects production efficiency.

[0004] Therefore, in order to solve the technical problem that the existing aerial transport vehicles cannot smoothly grasp or lower the target grasping object due to different degrees of wear and tear of the transmission mechanism between the control system and the grasping mechanism or shaking during the grasping process, there is an urgent need for a leveling method, system, equipment and storage medium for the lifting mechanism of an aerial transport vehicle. Summary of the invention

[0005] The purpose of the present application is to provide a method, system, equipment and storage medium for leveling the lifting mechanism of an aerial transport vehicle. Through the leveling system of the lifting mechanism of the aerial transport vehicle, based on the dynamic model of the grasping mechanism, the pitch angle and roll angle of the grasping mechanism are adjusted to level the grasping mechanism, so as to solve the technical problem that the existing aerial transport vehicle cannot stably grasp or lower the target grasping object due to different degrees of wear and tear of the transmission mechanism between the control system and the grasping mechanism or shaking during the grasping process. By constructing a dynamic model of the grasping mechanism based on the attitude sensor to obtain the real-time attitude information of the grasping mechanism, the relationship between the attitude, speed and acceleration of the grasping mechanism can be understood, and the corresponding control algorithm can be combined to realize the motion control of the grasping mechanism in different attitudes, so as to accurately control the position and speed of the grasping mechanism and realize the leveling of the grasping mechanism, so that the aerial transport vehicle can stably grasp the wafer box, thereby improving the transportation efficiency of the aerial transport vehicle.

[0006] In a first aspect, the present application provides a leveling system for an aerial transport vehicle lifting mechanism, the aerial transport vehicle lifting mechanism leveling system comprising an aerial transport vehicle lifting mechanism composed of a control system, a transmission mechanism, a posture sensor and a gripping mechanism; the control system is arranged on the top of the aerial transport vehicle lifting mechanism; the gripping mechanism is arranged on the bottom of the aerial transport vehicle lifting mechanism; the control system is connected to the gripping mechanism through the transmission mechanism; the posture sensor is arranged on the gripping mechanism;

[0007] The control system is used to adjust the pitch angle and roll angle of the grasping mechanism through the transmission mechanism based on the grasping mechanism dynamics model, so as to level the grasping mechanism;

[0008] The transmission mechanism is used to control the up and down movement and posture adjustment of the grasping mechanism;

[0009] The posture sensor is used to obtain real-time posture information of the grasping mechanism to assist the control system in building a dynamic model of the grasping mechanism;

[0010] The grabbing mechanism is used to grab or put down the target grabbing object.

[0011] The aerial transport vehicle lifting mechanism leveling system provided in the present application can realize the leveling of the grasping mechanism of the aerial transport vehicle. Through the control system, transmission mechanism, attitude sensor and grasping mechanism, the grasping mechanism is leveled based on the dynamic model of the grasping mechanism, so as to solve the technical problem that the existing aerial transport vehicles cannot smoothly grasp or lower the target grasping object due to different degrees of wear and tear of the transmission mechanism between the control system and the grasping mechanism or shaking during the grasping process. By constructing a dynamic model of the grasping mechanism based on the attitude sensor to obtain the real-time posture information of the grasping mechanism, the relationship between the posture, speed and acceleration of the grasping mechanism can be understood, and the corresponding control algorithm can be combined to realize the motion control of the grasping mechanism in different postures, so as to accurately control the position and speed of the grasping mechanism and realize the leveling of the grasping mechanism, so that the aerial transport vehicle can smoothly grasp the wafer box, thereby improving the transportation efficiency of the aerial transport vehicle.

[0012] Optionally, the control system includes a programmable logic controller, a servo drive, a servo motor and a planetary reducer which are electrically connected in sequence;

[0013] The programmable logic controller is used to control the servo drive;

[0014] The servo driver is used to drive the servo motor;

[0015] The servo motor is used to drive the planetary reducer to control the transmission mechanism based on the dynamic model of the grasping mechanism.

[0016] Optionally, the lifting mechanism includes a reel and a belt;

[0017] The reel is used for reeling in and unreeling the belt;

[0018] The lower end of the belt is connected to the grabbing mechanism.

[0019] Optionally, the grabbing mechanism dynamics model is specifically:

[0020] ;

[0021] in, is the acceleration of the grasping mechanism in the horizontal direction; is the acceleration of the grasping mechanism in the ordinate direction; is the acceleration of the grasping mechanism in the vertical coordinate direction; , , are the roll angle, pitch angle and yaw angle of the grasping mechanism respectively; is the pulling force of the transmission mechanism in the vertical coordinate direction; m is the sum of the masses of the grasping mechanism and the target grasping object; , , are the second-order derivatives of the roll angle, pitch angle and yaw angle of the grasping mechanism with respect to time t; is the moment of the grasping mechanism in the roll angle direction; is the moment of the grasping mechanism in the pitch angle direction; is the moment of the grasping mechanism in the yaw angle direction; , , are the first-order derivatives of the roll angle, pitch angle and yaw angle of the grasping mechanism with respect to time t; , , are the moments of inertia of the grasping mechanism in the roll angle, pitch angle and yaw angle directions respectively.

[0022] The aerial transport vehicle lifting mechanism leveling device provided in the present application can realize the leveling of the grabbing mechanism of the aerial transport vehicle. Through the dynamic model of the grabbing mechanism, the pitch angle and roll angle of the grabbing mechanism of the aerial transport vehicle lifting mechanism are controlled, thereby improving the leveling efficiency of the aerial transport vehicle lifting mechanism.

[0023] In a second aspect, the present application provides a method for leveling an aerial transport vehicle lifting mechanism, which is applied to the aforementioned aerial transport vehicle lifting mechanism leveling system to level the grabbing mechanism of the aerial transport vehicle, comprising the steps of:

[0024] Acquiring task information received by the aerial transport vehicle lifting mechanism; the task information includes a target grasping object, a target position, and a target operation;

[0025] Controlling the aerial transport vehicle lifting mechanism to move to the target position;

[0026] Based on the target operation, the aerial transport vehicle lifting mechanism is controlled to grasp or lower the target grasping object, and real-time posture information of the grasping mechanism is obtained in real time through a posture sensor during the grasping or lowering process;

[0027] According to the real-time posture information, a dynamic model of the grasping mechanism is constructed to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process to level the grasping mechanism.

[0028] The aerial transport vehicle lifting mechanism leveling method provided in the present application can realize the leveling of the grasping mechanism of the aerial transport vehicle. Through the aerial transport vehicle lifting mechanism leveling system, based on the grasping mechanism dynamics model, the pitch angle and roll angle of the grasping mechanism are adjusted to level the grasping mechanism, so as to solve the technical problem that the existing aerial transport vehicle cannot stably grasp or lower the target grasping object due to different degrees of wear and tear of the transmission mechanism between the control system and the grasping mechanism or shaking during the grasping process. By constructing a grasping mechanism dynamics model based on the attitude sensor to obtain the real-time attitude information of the grasping mechanism, the relationship between the attitude, speed and acceleration of the grasping mechanism can be understood, and the corresponding control algorithm can be combined to realize the motion control of the grasping mechanism in different attitudes, so as to accurately control the position and speed of the grasping mechanism and realize the leveling of the grasping mechanism, so that the aerial transport vehicle can stably grasp the wafer box, thereby improving the transportation efficiency of the aerial transport vehicle.

[0029] Optionally, a gripping mechanism dynamics model is constructed according to the real-time posture information to adjust the pitch angle and roll angle of the gripping mechanism during the gripping or lowering process to level the gripping mechanism, including:

[0030] Constructing a dynamic model of the grasping mechanism according to the real-time posture information;

[0031] Based on the dynamic model of the grasping mechanism, the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process are adjusted through a fuzzy PID algorithm so that the adjusted pitch angle and roll angle tend to zero, thereby leveling the grasping mechanism.

[0032] Optionally, constructing a grasping mechanism dynamics model according to the real-time posture information includes:

[0033] Obtaining the mass of the gripping mechanism when ascending or descending;

[0034] According to Newton's second law and Euler's equation, the real-time posture information and the mass are combined to construct a dynamic model of the grasping mechanism.

[0035] The aerial transport vehicle lifting mechanism leveling method provided in the present application can realize the leveling of the grasping mechanism of the aerial transport vehicle. Through Newton's second law and Euler's equation, combined with the real-time posture information and quality of the grasping mechanism, a grasping mechanism dynamics model is constructed. Through the grasping mechanism dynamics model, the grasping mechanism is controlled, which is beneficial to improving the leveling efficiency of the aerial transport vehicle lifting mechanism.

[0036] Optionally, based on the dynamic model of the grasping mechanism, the pitch angle and the roll angle of the grasping mechanism during the grasping or lowering process are adjusted by a fuzzy PID algorithm so that the adjusted pitch angle and the roll angle tend to zero, thereby leveling the grasping mechanism, including:

[0037] The grasping mechanism dynamics model is converted into a state space expression through linearization processing;

[0038] Using Laplace transform, converting the state space expression into a transfer function;

[0039] By means of the fuzzy PID algorithm and the transfer function, the transmission mechanism is controlled to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process, so that the adjusted pitch angle and roll angle tend to zero, thereby leveling the grasping mechanism.

[0040] In a third aspect, the present application provides an electronic device, including a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, it runs the steps in the method for leveling the aerial transport vehicle lifting mechanism as described above.

[0041] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps in the method for leveling the lifting mechanism of an aerial transport vehicle as described above are executed.

[0042] Beneficial effect: The method, system, equipment and storage medium for leveling the lifting mechanism of an aerial transport vehicle provided in the present application, through the leveling system of the lifting mechanism of the aerial transport vehicle, adjusts the pitch angle and roll angle of the grasping mechanism based on the dynamic model of the grasping mechanism to level the grasping mechanism, thereby solving the technical problem that the existing aerial transport vehicles cannot stably grasp or lower the target grasping object due to different degrees of wear and tear in the transmission mechanism between the control system and the grasping mechanism or shaking during the grasping process. The dynamic model of the grasping mechanism is constructed by acquiring the real-time posture information of the grasping mechanism based on the posture sensor, so as to understand the relationship between the posture, speed and acceleration of the grasping mechanism, and can be combined with the corresponding control algorithm to realize the motion control of the grasping mechanism in different postures, so as to accurately control the position and speed of the grasping mechanism and realize the leveling of the grasping mechanism, so that the aerial transport vehicle can stably grasp the wafer box, thereby improving the transportation efficiency of the aerial transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of the structure of the leveling system of the aerial transport vehicle lifting mechanism provided in an embodiment of the present application.

[0044] Figure 2 A flow chart of a method for leveling an aerial transport vehicle lifting mechanism provided in an embodiment of the present application.

[0045] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0046] Explanation of reference numerals: 1. Control system; 2. Transmission mechanism; 3. Posture sensor; 4. Grasping mechanism; 5. Target grasping object; 6. Programmable logic controller; 7. Servo drive; 8. Servo motor; 9. Planetary reducer; 10. Reel; 11. Belt; 301. Processor; 302. Memory; 303. Communication bus. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0048] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0049] refer to Figure 1 The present application provides a leveling system for an aerial transport vehicle lifting mechanism, comprising an aerial transport vehicle lifting mechanism composed of a control system 1, a transmission mechanism 2, a posture sensor 3 and a grabbing mechanism 4; the control system 1 is arranged at the top of the aerial transport vehicle lifting mechanism; the grabbing mechanism 4 is arranged at the bottom of the aerial transport vehicle lifting mechanism; the control system 1 is connected to the grabbing mechanism 4 through the transmission mechanism 2; the posture sensor 3 is arranged on the grabbing mechanism 4;

[0050] The control system 1 is used to adjust the pitch angle and roll angle of the grasping mechanism 4 through the transmission mechanism 2 based on the grasping mechanism dynamics model, so that the grasping mechanism 4 is leveled;

[0051] The transmission mechanism 2 is used to control the up and down movement and posture adjustment of the grasping mechanism 4;

[0052] The posture sensor 3 is used to obtain the real-time posture information of the grasping mechanism 4 to assist the control system 1 in building a dynamic model of the grasping mechanism;

[0053] The grabbing mechanism 4 is used to grab or put down the target grabbing object 5 .

[0054] In a specific application, when grasping or lowering the target grasping object 5, the posture sensor 3 continuously collects real-time posture information of the grasping mechanism 4, including data such as position coordinates, pitch angle and roll angle. These data are transmitted to the control system 1 for constructing and updating the dynamic model of the grasping mechanism. Based on this dynamic model, the control system 1 calculates the required adjustment amount of the pitch angle and roll angle of the leveling grasping mechanism 4. Next, the control system 1 sends a control instruction to the transmission mechanism 2, and the transmission mechanism 2 adjusts the pitch angle and roll angle of the grasping mechanism 4 based on the control instruction. For example, if it is detected that the grasping mechanism 4 has a tendency to tilt forward, the control system 1 sends a control instruction to control the part of the transmission mechanism 2 located on the front side to correct the tilt.

[0055] The leveling process is continuous and real-time. The attitude sensor 3 continuously updates the position information, the control system 1 continuously optimizes the dynamic model and calculates the adjustment amount, and the transmission mechanism 2 executes the control instructions corresponding to the adjustment amount in real time. Through this closed-loop control, it can quickly respond to any attitude changes of the grasping mechanism 4 and maintain its horizontal state.

[0056] The aerial transport vehicle lifting mechanism leveling system levels the grasping mechanism of the aerial transport vehicle through the control system 1, the transmission mechanism 2, the attitude sensor 3 and the grasping mechanism 4, so as to solve the technical problem that the existing aerial transport vehicle cannot stably grasp or lower the target grasping object due to the different degrees of wear and tear of the transmission mechanism between the control system and the grasping mechanism or the shaking during the grasping process. The grasping mechanism dynamics model constructed by acquiring the real-time attitude information of the grasping mechanism based on the attitude sensor can understand the relationship between the attitude, speed and acceleration of the grasping mechanism, and can be combined with the corresponding control algorithm to realize the motion control of the grasping mechanism in different attitudes, so as to accurately control the position and speed of the grasping mechanism and realize the leveling of the grasping mechanism, so that the aerial transport vehicle can stably grasp the wafer box, thereby improving the transportation efficiency of the aerial transport vehicle.

[0057] Specifically, the control system 1 includes a programmable logic controller 6, a servo driver 7, a servo motor 8 and a planetary reducer 9 which are electrically connected in sequence;

[0058] The programmable logic controller 6 is used to control the servo driver 7;

[0059] The servo driver 7 is used to drive the servo motor 8;

[0060] The servo motor 8 is used to drive the planetary reducer 9 to control the transmission mechanism 2 based on the dynamic model of the gripping mechanism.

[0061] In specific applications, the programmable logic controller (PLC) 6 can perform intelligent control through preset programs and real-time data, that is, it can quickly adjust the control strategy according to the real-time posture information fed back by the posture sensor 3.

[0062] The combination of the servo driver 7 and the servo motor 8 can achieve high-precision position and speed control, has a fast response speed, and can accurately drive the planetary reducer 9.

[0063] The planetary reducer 9 can provide a large torque output, which is suitable for the needs of the transmission mechanism 2, and can accurately control the movement of the transmission mechanism 2 to reduce errors and energy losses during the transmission process.

[0064] Specifically, the transmission mechanism 2 includes a reel 10 and a belt 11;

[0065] The reel 10 is used to reel in and unreel the belt 11;

[0066] The lower end of the belt 11 is connected to the grabbing mechanism 4 .

[0067] In specific applications, the reel 10 can be set to a cylindrical structure with different diameters and materials, and its surface can be coated with anti-slip texture or rubber to enhance the friction with the belt and transmission stability. The belt 11 can be a high-strength, low-ductility synchronous belt or a steel wire reinforced transmission belt to ensure accuracy during the transmission process. The lower end of the belt 11 is connected to the gripping mechanism 4, which can be used to control the up and down movement and posture adjustment of the gripping mechanism 4. Generally, there are 4 reels 10 and belts 11, which are evenly arranged along the circumference of the gripping mechanism 4.

[0068] In the specific working principle, the reel 10 can accurately control the speed of the belt 11 through the planetary reducer 9. When the reel 10 rotates, the belt 11 moves accordingly, realizing accurate lifting and lowering control of the grabbing mechanism 4. By controlling the speed of each reel 10 to control the speed of the belt 11 at the corresponding position, the grabbing mechanism 4 can achieve smooth and accurate vertical movement.

[0069] In some optional embodiments, the transmission mechanism 2 may also be configured as a chain drive or a coupling drive.

[0070] Specifically, the dynamic model of the grasping mechanism is as follows:

[0071] ;

[0072] in, is the acceleration of the gripping mechanism 4 in the abscissa direction; is the acceleration of the gripping mechanism 4 in the ordinate direction; is the acceleration of the grabbing mechanism 4 in the vertical coordinate direction; , , are respectively the roll angle, pitch angle and yaw angle of the grasping mechanism 4; is the pulling force of the transmission mechanism 2 in the vertical coordinate direction (i.e., the pulling force of the grasping mechanism 4 in the vertical coordinate direction); m is the sum of the masses of the grasping mechanism 4 and the target grasping object 5 (in the grasping or lowering process, when the grasping mechanism 4 is ascending or descending, if the grasping mechanism 4 carries the target grasping object 5, it is the sum of the masses of the grasping mechanism 4 and the target grasping object 5; if the grasping mechanism 4 does not carry the target grasping object 5, it is the mass of the grasping mechanism 4); , , are respectively the second-order derivatives of the roll angle, pitch angle and yaw angle of the grasping mechanism 4 with respect to time t; is the moment of the gripping mechanism 4 in the rolling angle direction; is the moment of the grasping mechanism in the pitch angle direction; is the moment of the gripping mechanism 4 in the yaw angle direction; , , are respectively the first-order derivatives of the roll angle, pitch angle and yaw angle of the grasping mechanism 4 with respect to time t; , , are the moments of inertia of the gripping mechanism 4 in the roll angle, pitch angle and yaw angle directions, respectively. Wherein, the x-axis and y-axis of the reference coordinate system xyz are on the horizontal plane, the z-axis is in the vertical direction, the horizontal coordinate refers to the x-axis coordinate, the vertical coordinate refers to the y-axis coordinate, and the vertical coordinate refers to the z-axis coordinate. The roll angle, pitch angle and yaw angle refer to the angles of rotation of the gripping mechanism 4 around the x-axis, y-axis and z-axis, respectively.

[0073] In specific applications, the dynamic model of the grasping mechanism includes the motion state and force conditions of the grasping mechanism 4 in three-dimensional space, and specifically considers the acceleration, angle, angular velocity, angular acceleration of the grasping mechanism 4 in various directions, as well as the forces and torques acting on the grasping mechanism 4.

[0074] This grasping mechanism dynamics model provides an accurate mathematical basis for the control system 1 by accurately describing the kinematic and dynamic characteristics of the grasping mechanism 4. Using this grasping mechanism dynamics model, the control system 1 can calculate and predict the position and posture of the grasping mechanism 4 in real time, thereby achieving accurate control of the grasping mechanism 4.

[0075] Please refer to Figure 2 , Figure 2 A method for leveling an aerial transport vehicle lifting mechanism in some embodiments of the present application is applied to the aforementioned aerial transport vehicle lifting mechanism leveling system to level the grabbing mechanism of the aerial transport vehicle, comprising:

[0076] Step S101, obtaining task information received by the aerial transport vehicle lifting mechanism; the task information includes a target grasping object, a target position and a target operation;

[0077] Step S102, controlling the aerial transport vehicle lifting mechanism to move to a target position;

[0078] Step S103, based on the target operation, controlling the aerial transport vehicle lifting mechanism to grab or lower the target grab object, and obtaining real-time posture information of the grab mechanism through the posture sensor in real time during the grabbing or lowering process;

[0079] Step S104, constructing a grasping mechanism dynamics model according to the real-time posture information, so as to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process to level the grasping mechanism.

[0080] The method for leveling the lifting mechanism of an aerial transport vehicle uses a leveling system for the lifting mechanism of the aerial transport vehicle and takes a dynamic model of a gripping mechanism as a basis to adjust the pitch angle and roll angle of the gripping mechanism so as to level the gripping mechanism. The method solves the technical problem that the existing aerial transport vehicle cannot stably grasp or lower the target grasping object due to different degrees of wear and tear of the transmission mechanism between the control system and the gripping mechanism or shaking during the grasping process. The dynamic model of the gripping mechanism is constructed by acquiring real-time posture information of the gripping mechanism based on a posture sensor, so that the relationship between the posture, speed and acceleration of the gripping mechanism can be understood, and the corresponding control algorithm can be combined to realize motion control of the gripping mechanism in different postures, so as to accurately control the position and speed of the gripping mechanism and realize the leveling of the gripping mechanism, so that the aerial transport vehicle can stably grasp the wafer box, thereby improving the transportation efficiency of the aerial transport vehicle.

[0081] Specifically, in step S101, when the aerial transport vehicle receives a transport task, the task information received by the aerial transport vehicle's lifting mechanism is obtained; the task information includes the target grasping object (i.e., the ID number and mass of the wafer box (wafer boxes are divided into empty wafer boxes and fully loaded wafer boxes, and the mass of the target grasping object can be determined according to the loading condition of the target grasping object)), the target position (i.e., the location of the wafer box and the location of the transport destination) and the target operation (i.e., grasping or lowering, the target operation is grasping when the wafer box is grasped at the location of the wafer box, and the target operation is lowering when the wafer box is lowered at the location of the transport destination).

[0082] Specifically, in step S102, according to the location of the wafer box or the location of the transport destination, the aerial transport vehicle lifting mechanism is controlled to move to the target position. When the aerial transport vehicle lifting mechanism needs to grab the target object, it moves to the location of the wafer box. When the aerial transport vehicle lifting mechanism needs to lower the target object, it moves to the location of the transport destination.

[0083] Specifically, in step S103, based on the target operation, the aerial transport vehicle lifting mechanism is controlled to grab or lower the target grab object, that is, when the aerial transport vehicle lifting mechanism has not grabbed the target grab object, the target grab object needs to be grabbed, and when the aerial transport vehicle lifting mechanism has grabbed the target grab object, the target grab object needs to be lowered. During the grabbing or lowering process, the real-time posture information of the grabbing mechanism is obtained in real time through the posture sensor.

[0084] Specifically, in step S104, a dynamic model of the grasping mechanism is constructed according to the real-time posture information to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process to level the grasping mechanism, including:

[0085] According to the real-time posture information, the dynamic model of the grasping mechanism is constructed;

[0086] Based on the dynamic model of the grasping mechanism, the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process are adjusted through the fuzzy PID algorithm so that the adjusted pitch angle and roll angle tend to zero, thereby leveling the grasping mechanism.

[0087] Specifically, in step S104, a grasping mechanism dynamics model is constructed according to the real-time posture information, including:

[0088] Get the mass of the gripping mechanism when it is rising or falling;

[0089] According to Newton's second law and Euler's equation, combined with real-time posture information and mass, a dynamic model of the grasping mechanism is constructed.

[0090] In step S104, the mass of the grasping mechanism when it is rising or falling is obtained, that is, according to the movement direction of the transmission mechanism, it is determined whether the grasping mechanism is in the rising or descending process during the grasping or lowering process, and combined with the position of the lifting mechanism of the aerial transport vehicle, it is determined whether the grasping mechanism carries the target grasping object, thereby determining the mass of the grasping mechanism during the grasping or lowering process. When the grasping mechanism carries the target grasping object, the acquired mass of the grasping mechanism is actually the sum of the masses of the grasping mechanism and the target grasping object.

[0091] According to Newton's second law, the acceleration of each axis of the grasping mechanism in the vertical direction can be obtained.

[0092] ;

[0093] in, is the acceleration of the grasping mechanism in the horizontal direction; is the acceleration of the grasping mechanism in the ordinate direction; is the acceleration of the grasping mechanism in the vertical coordinate direction; is the sum of the masses of the grasping mechanism and the target grasping object, is the pulling force of the transmission mechanism 2 in the vertical coordinate direction (ie, the pulling force exerted on the grabbing mechanism 4 in the vertical coordinate direction).

[0094] Assuming that there are 4 transmission mechanisms (i.e., reels and belts), when the grabbing mechanism is lifted vertically, the resultant force it receives is:

[0095] ;

[0096] in, is the resultant force on the gripping mechanism, is the tensile force on the grabbing mechanism in the horizontal direction, is the tensile force on the grabbing mechanism in the ordinate direction, , , , They are the tension of the four belts in the transmission mechanism respectively.

[0097] When the gripping mechanism rotates (when the gripping structure is ascending or descending, there will be a certain degree of inclination (i.e., roll angle, pitch angle and yaw angle), this inclination is equivalent to the angle generated by the gripping mechanism rotating around a certain axis, for example, the roll angle is the angle generated by the gripping mechanism rotating around the x-axis), the torque on the three axes (abscissa axis, ordinate axis and vertical axis) is:

[0098] ;

[0099] in, is the moment of the gripping mechanism in the roll angle direction (i.e. the moment in the direction of the abscissa axis); is the moment of the grasping mechanism in the pitch angle direction (i.e. the moment in the direction of the ordinate axis); is the moment of the grasping mechanism in the yaw angle direction (i.e., the moment in the direction of the vertical coordinate axis); is the distance from the point where the end of the belt is connected to the gripper to the center of mass of the gripper.

[0100] According to the Euler equation, the rotational motion model of the grasping mechanism is as follows:

[0101] ;

[0102] in, , , are the moments of inertia of the grasping mechanism in the directions of roll angle, pitch angle and yaw angle respectively; , , are the second-order derivatives of the roll angle, pitch angle and yaw angle of the grasping mechanism with respect to time t; , , are the first-order derivatives of the roll angle, pitch angle and yaw angle of the grasping mechanism with respect to time t.

[0103] In summary, the dynamic mathematical model of the grabbing mechanism during the lifting process is determined as follows:

[0104] .

[0105] Specifically, in step S104, based on the dynamic model of the grasping mechanism, the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process are adjusted by a fuzzy PID algorithm so that the adjusted pitch angle and roll angle tend to zero, thereby leveling the grasping mechanism, including:

[0106] Through linearization, the dynamic model of the grasping mechanism is transformed into a state space expression;

[0107] Using Laplace transform, the state space expression is converted into a transfer function;

[0108] Through the fuzzy PID algorithm and the transfer function, the transmission mechanism is controlled to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process, so that the adjusted pitch angle and roll angle tend to zero, thereby leveling the grasping mechanism.

[0109] In step S104, the gripping mechanism dynamics model is converted into a state space expression through linearization processing. The linearization processing is to perform Taylor expansion on the nonlinear system near the working point, retain the first-order terms, and ignore the higher-order terms, so as to approximate the nonlinear system to a linear system. The linearization processing can simplify the complex gripping mechanism dynamics model, making it easier to analyze and control. Specifically, the equilibrium position of the gripping mechanism can be selected as the working point, and the linearization processing can be performed near this point.

[0110] Laplace transform is a mathematical method to transform time domain function into complex frequency domain function. Through Laplace transform, the state space expression can be transformed into a transfer function. This transformation makes the force analysis of the grasping mechanism more intuitive and simple.

[0111] Linearization and Laplace transform provide a suitable mathematical model for the fuzzy PID algorithm, and the fuzzy PID algorithm uses this transfer function to control the transmission mechanism, control the pulling force of the transmission mechanism on the grasping mechanism and / or the pulling speed of the belt, so as to adjust the pitch angle and roll angle of the grasping mechanism, so that the adjusted pitch angle and roll angle tend to zero, thereby leveling the grasping mechanism and realizing precise control of the grasping mechanism posture. Among them, linearization, Laplace transform and fuzzy PID algorithm are existing technologies and will not be described in detail here.

[0112] As can be seen from the above, the method for leveling the aerial transport vehicle lifting mechanism obtains the task information received by the aerial transport vehicle lifting mechanism, the task information includes the target grasping object, the target position and the target operation, controls the aerial transport vehicle lifting mechanism to move to the target position, and controls the aerial transport vehicle lifting mechanism to grasp or lower the target grasping object based on the target operation, and obtains the real-time posture information of the grasping mechanism in real time through the posture sensor during the grasping or lowering process, and constructs a grasping mechanism dynamics model according to the real-time posture information, so as to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process to level the grasping mechanism; thereby, the grasping mechanism is adjusted based on the grasping mechanism dynamics model through the aerial transport vehicle lifting mechanism leveling system. The pitch angle and roll angle of the mechanism are used to level the grasping mechanism, which solves the technical problem that the existing aerial transport vehicles cannot smoothly grasp or lower the target grasping object due to different degrees of wear and tear in the transmission mechanism between the control system and the grasping mechanism or shaking during the grasping process. The grasping mechanism dynamics model is constructed by acquiring the real-time posture information of the grasping mechanism based on the attitude sensor, and the relationship between the posture, speed and acceleration of the grasping mechanism can be understood. In combination with the corresponding control algorithm, the motion control of the grasping mechanism in different postures can be realized, so as to accurately control the position and speed of the grasping mechanism and realize the leveling of the grasping mechanism, so that the aerial transport vehicle can smoothly grasp the wafer box, thereby improving the transportation efficiency of the aerial transport vehicle.

[0113] Please refer to Figure 3 , Figure 3 The present application provides a structural schematic diagram of an electronic device provided in an embodiment of the present application. The present application provides an electronic device, including: a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanisms (not shown). The memory 302 stores a computer program executable by the processor 301. When the electronic device is running, the processor 301 executes the computer program to execute the aerial transport vehicle lifting mechanism leveling method in any optional implementation of the above embodiment to achieve the following functions: obtaining task information received by the aerial transport vehicle lifting mechanism, the task information including a target grasping object, a target position and a target operation, controlling the aerial transport vehicle lifting mechanism to run to the target position, and based on the target operation, controlling the aerial transport vehicle lifting mechanism to grasp or lower the target grasping object, and obtaining real-time posture information of the grasping mechanism in real time through a posture sensor during the grasping or lowering process, and constructing a grasping mechanism dynamics model according to the real-time posture information to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process to level the grasping mechanism.

[0114] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for leveling an aerial transport vehicle lifting mechanism in any optional implementation of the above-mentioned embodiment is executed to achieve the following functions: obtaining task information received by the aerial transport vehicle lifting mechanism, the task information including a target grasping object, a target position and a target operation, controlling the aerial transport vehicle lifting mechanism to move to the target position, and based on the target operation, controlling the aerial transport vehicle lifting mechanism to grasp or lower the target grasping object, and obtaining real-time posture information of the grasping mechanism in real time through a posture sensor during the grasping or lowering process, and constructing a grasping mechanism dynamics model based on the real-time posture information to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process to level the grasping mechanism. Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0115] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0116] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0118] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0119] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A leveling system for an aerial transport vehicle lifting mechanism, used for leveling a grabbing mechanism of an aerial transport vehicle, characterized in that: The invention comprises an aerial transport vehicle lifting mechanism composed of a control system (1), a transmission mechanism (2), a posture sensor (3) and a gripping mechanism (4); the control system (1) is arranged at the top of the aerial transport vehicle lifting mechanism; the gripping mechanism (4) is arranged at the bottom of the aerial transport vehicle lifting mechanism; the control system (1) is connected to the gripping mechanism (4) via the transmission mechanism (2); the posture sensor (3) is arranged on the gripping mechanism (4); The control system (1) is used to adjust the pitch angle and roll angle of the grasping mechanism (4) through the transmission mechanism (2) based on the grasping mechanism dynamics model, so that the grasping mechanism (4) is leveled; The transmission mechanism (2) is used to control the upward and downward movement and posture adjustment of the grasping mechanism (4); The posture sensor (3) is used to obtain real-time posture information of the grasping mechanism (4) to assist the control system (1) in constructing a dynamic model of the grasping mechanism; The grasping mechanism (4) is used to grasp or lower a target grasping object (5); The specific dynamic model of the grabbing mechanism is: ； in, is the acceleration of the grasping mechanism (4) in the horizontal axis direction; is the acceleration of the grasping mechanism (4) in the ordinate direction; is the acceleration of the grasping mechanism (4) in the vertical coordinate direction; , , are respectively the roll angle, pitch angle and yaw angle of the grasping mechanism (4); is the pulling force of the transmission mechanism (2) in the vertical coordinate direction; m is the sum of the masses of the grasping mechanism (4) and the target grasping object (5); , , are respectively the second-order derivatives of the roll angle, pitch angle and yaw angle of the grasping mechanism (4) with respect to time t; is the moment of the gripping mechanism (4) in the rolling angle direction; is the moment of the grasping mechanism (4) in the pitch angle direction; is the moment of the grasping mechanism in the yaw angle direction; , , are respectively the first-order derivatives of the roll angle, pitch angle and yaw angle of the grasping mechanism (4) with respect to time t; , , are the moments of inertia of the grasping mechanism (4) in the directions of roll angle, pitch angle and yaw angle respectively.

2. The aerial transport vehicle lifting mechanism leveling system according to claim 1, characterized in that: The control system (1) comprises a programmable logic controller (6), a servo drive (7), a servo motor (8) and a planetary reducer (9) which are electrically connected in sequence; The programmable logic controller (6) is used to control the servo driver (7); The servo driver (7) is used to drive the servo motor (8); The servo motor (8) is used to drive the planetary reducer (9) to control the transmission mechanism (2) based on the dynamic model of the gripping mechanism.

3. The aerial transport vehicle lifting mechanism leveling system according to claim 1, characterized in that: The transmission mechanism (2) comprises a reel (10) and a belt (11); The reel (10) is used to reel in and unreel the belt (11); The lower end of the belt (11) is connected to the grabbing mechanism (4).

4. A method for leveling an aerial transport vehicle lifting mechanism, applied to the aerial transport vehicle lifting mechanism leveling system according to any one of claims 1 to 3 to level the grabbing mechanism of the aerial transport vehicle, characterized in that: include: Obtaining mission information received by the aerial transport vehicle lifting mechanism; The task information includes a target grasping object, a target position and a target operation; Controlling the aerial transport vehicle lifting mechanism to move to the target position; Based on the target operation, the aerial transport vehicle lifting mechanism is controlled to grasp or lower the target grasping object, and real-time posture information of the grasping mechanism is obtained in real time through a posture sensor during the grasping or lowering process; According to the real-time posture information, a dynamic model of the grasping mechanism is constructed to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process to level the grasping mechanism.

5. The method for leveling the lifting mechanism of an aerial transport vehicle according to claim 4, characterized in that: According to the real-time posture information, a dynamic model of the grasping mechanism is constructed to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process to level the grasping mechanism, including: Constructing a dynamic model of the grasping mechanism according to the real-time posture information; Based on the dynamic model of the grasping mechanism, the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process are adjusted through a fuzzy PID algorithm so that the adjusted pitch angle and roll angle tend to zero, thereby leveling the grasping mechanism.

6. The method for leveling the lifting mechanism of an aerial transport vehicle according to claim 5, characterized in that: According to the real-time posture information, a grasping mechanism dynamics model is constructed, including: Obtaining the mass of the gripping mechanism when ascending or descending; According to Newton's second law and Euler's equation, the real-time posture information and the mass are combined to construct a dynamic model of the grasping mechanism.

7. The method for leveling the lifting mechanism of an aerial transport vehicle according to claim 5, characterized in that: Based on the dynamic model of the grasping mechanism, the pitch angle and the roll angle of the grasping mechanism during the grasping or lowering process are adjusted by a fuzzy PID algorithm so that the adjusted pitch angle and the roll angle tend to zero, thereby leveling the grasping mechanism, including: The grasping mechanism dynamics model is converted into a state space expression through linearization processing; Using Laplace transform, converting the state space expression into a transfer function; By means of the fuzzy PID algorithm and the transfer function, the transmission mechanism is controlled to adjust the pitch angle and roll angle of the grasping mechanism during the grasping or lowering process, so that the adjusted pitch angle and roll angle tend to zero, thereby leveling the grasping mechanism.

8. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, it runs the steps in the method for leveling the lifting mechanism of an aerial transport vehicle as described in any one of claims 4-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for leveling the aerial transport vehicle lifting mechanism as described in any one of claims 4 to 7 are executed.

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