Automatic feeding and discharging control method

Abstract

The invention discloses a feeding and discharging technology, and aims to provide an automatic feeding and discharging control method which is characterized by comprising the following steps: S1, equipment configuration; s2, initializing positioning; s3, dynamic feeding control is carried out; s4, multi-parameter monitoring is carried out; s5, carrying out switching control on the bearing unit; s6, performing feedback adjustment; s7, blanking control is carried out; compared with the prior art, the automatic feeding and discharging control method achieves full-process automatic feeding and discharging control by integrating the multi-axis linkage mechanical arm, the annular rotating disc mechanism, the multi-parameter control module and the like; the device is suitable for the technical field of feeding and discharging.

Description

Technical Field

[0001] The present invention relates to a material loading and unloading technology, and more specifically, to an automatic material loading and unloading control method. Background Art

[0002] With the continuous development of industrial automation technology, the traditional production line operation mode is gradually transforming towards intelligence and automation. As a key link, the automated loading and unloading system plays an important role in the modern production process. The traditional manual loading and unloading methods have problems such as low efficiency, high labor intensity, high material loss, and are easily affected by human factors, resulting in abnormal situations such as untimely material supply or equipment failure in the production process, affecting the stability and efficiency of the production line.

[0003] Although the existing automated loading and unloading systems have improved production efficiency to a certain extent, there are still some problems, such as the lack of precise material grabbing and placement control, slow system response speed, etc., which may lead to material misplacement and equipment stagnation during the production process. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention aims to provide an automatic loading and unloading control method.

[0005] To achieve the above object, the present invention provides the following technical solution: an automatic loading and unloading control method, comprising the following steps:

[0006] S1. Equipment configuration: a multi-axis linkage loading and unloading manipulator and a ring-shaped turntable mechanism for loading and unloading materials, a control unit for controlling the loading and unloading manipulator, the unloading manipulator and the ring-shaped turntable mechanism are provided. The turntable mechanism includes a turntable, and a plurality of bearing units are evenly distributed along the circumference of the center point of the turntable. The bearing units include a bearing frame for accommodating and limiting materials, a rising plate arranged at the bottom of the bearing frame for carrying materials and capable of moving linearly along the bearing frame, a motor module for controlling the movement of the rising plate, a pressure sensor module arranged at the bottom of the rising plate, and a laser ranging module for detecting the height of the materials;

[0007] S2, initial positioning: the control unit controls the annular turntable mechanism to rotate, so that the first carrying unit rotates to the specified position, which is convenient for the manipulator to pick up and load the material. After rotating to the specified position, the control unit simultaneously controls the carrying unit to lift the rising plate to the initial height H0, so that the top material is located at the outlet end of the carrying frame and is flush with the outlet end;

[0008] S3, dynamic feeding control: the feeding manipulator grabs the material to the processing place for processing at a preset frequency. After grabbing each piece, the pressure sensing module detects the pressure change value ΔP, and the control unit calculates the remaining material pressure value Px according to ΔP. If Px>the critical maintenance pressure threshold of the material, the rising plate is controlled to rise with a step length of ΔH1; if Px≤the critical maintenance pressure threshold of the material, the laser ranging module is triggered to measure the current material top height Hx. When |Hx-H0|>the allowable height deviation threshold, the rising plate is controlled to compensate for the height deviation with a corrected step length of ΔH2;

[0009] S4, multi-parameter monitoring: the control unit also includes several acquisition modules, including but not limited to those for collecting the number of materials in the current load-bearing unit, the cumulative displacement of the rising plate, and the current fluctuation value of the motor module; real-time acquisition of the number of materials Z in the current load-bearing unit, the cumulative displacement of the rising plate L, and the current fluctuation value I of the motor module; if Z < the minimum material remaining warning threshold, and L > the cumulative displacement warning threshold of the rising plate, it is determined that the material in the load-bearing unit is about to be exhausted, and the turntable pre-rotation instruction is triggered to the control unit;

[0010] S5, load-carrying unit switching control: the control unit also includes an angle calculation module. Before the turntable rotates, the control unit calculates the rotation angle θ between the current load-carrying unit and the next target load-carrying unit through the angle calculation module. If θ>the maximum rotation angle when the turntable is switched, a staged deceleration strategy is adopted; if θ≤the maximum rotation angle when the turntable is switched, a uniform rotation strategy is adopted, and the rising plate of the target load-carrying unit is pre-lifted to H0 at the same time;

[0011] S6, feedback adjustment: When the turntable rotates to the right position, the laser distance measurement module is used to verify whether the material height of the target load-bearing unit meets the standard. If there is a deviation, the linear compensation or nonlinear compensation mode is selected based on the comparison between the historical displacement L and the preset curve;

[0012] S7. Material unloading control: When the processing is completed, the unloading robot grabs the processed materials to the finished product at a preset frequency.

[0013] The present invention is further configured as follows: in S3, the critical material maintenance pressure threshold is dynamically calculated based on the weight G of a single piece of material and the capacity N of the carrying unit, specifically G×(N-1)×k, where k is a safety factor and 0.8≤k≤0.95.

[0014] The present invention is further configured as follows: in S3, the ratio of the step length ΔH1 to the correction step length ΔH2 is 1:0.3-0.5, and the calculation formula of ΔH2 is ΔH2=ΔH1×(1+|Hx-H0| / H0).

[0015] The present invention is further configured as follows: in S4, the real-time monitoring of the motor module current fluctuation value I satisfies the following conditions:

[0016] S41, if the current fluctuation value I exceeds the preset current fluctuation threshold value Imax, the control unit triggers the motor abnormality warning and suspends loading and unloading work;

[0017] S42, if the current fluctuation value I exceeds 0.8Imax for three consecutive sampling periods, the current closed-loop compensation algorithm of the motor module is started to adjust the stepping frequency of the rising board.

[0018] The present invention is further configured as follows: in S5, the phased deceleration strategy includes:

[0019] In the first stage, the angular velocity G1 is used to rotate the angle θ1 uniformly;

[0020] In the second stage, the vehicle decelerates to G2 with angular acceleration U;

[0021] In the third stage, the remaining angle θ2 is rotated at a constant speed of G2, and θ1+θ2=θ, U=ΔG / Δt, where ΔG=G1-G2, and Δt is the preset deceleration time.

[0022] The present invention is further configured as follows: in S6, the nonlinear compensation mode includes:

[0023] If the historical displacement L and the fitting degree of the standard curve R 2 When <0.9, the cubic polynomial compensation algorithm is used;

[0024] If 0.9≤R 2 When <0.95, the exponential compensation algorithm is used;

[0025] If R 2 When ≥0.95, the linear compensation algorithm is used.

[0026] The present invention is further configured as follows: the loading manipulator and the unloading manipulator adopt a collaborative operation mode, and the action sequence of the two satisfies:

[0027] S7-1, the time interval between the feeding robot grabbing action and the turntable rotation is ≥ 0.5s;

[0028] S7-2: After the placement action of the unloading robot is triggered, a delay of 0.3s is used to start the turntable load-bearing unit switching detection.

[0029] The beneficial effects of the present invention are:

[0030] 1. Compared with the prior art, the automatic loading and unloading control method of the present invention realizes full-process automatic loading and unloading control by integrating a multi-axis linkage manipulator, a ring-shaped turntable mechanism and a multi-parameter control module; the ring-shaped turntable mechanism adopts circumferentially uniformly distributed load-bearing units, combined with a pressure sensing module and a laser ranging module, which can monitor the material status in real time and dynamically adjust the height of the rising plate to ensure that the material is always in the best material picking position; in dynamic loading control, the remaining material amount is judged by the pressure change and the critical threshold, and the step adjustment and height compensation strategy are combined to effectively avoid material accumulation or supply interruption; the acquisition module comprehensively analyzes the material quantity, displacement and motor current, warns of the risk of material depletion in advance and triggers the pre-rotation of the turntable to reduce the downtime waiting time; the staged deceleration and uniform rotation strategy optimizes the turntable switching efficiency, and cooperates with the feedback adjustment mechanism to improve the system response accuracy and stability.

[0031] 2. The dynamic calculation of the critical pressure threshold of the material in the automatic loading and unloading control method of the present invention is based on the weight and capacity parameters of a single piece. By introducing the safety factor k, it is ensured that the pressure threshold can adapt to different material specifications and reserve sufficient redundancy to prevent misjudgment; for example, when the weight of a single piece of material fluctuates or the capacity of the load-bearing unit changes, the threshold is automatically adjusted to avoid material slipping due to insufficient pressure or mechanical jamming due to excessive lifting; this design significantly improves the system's adaptability to different working conditions, and is particularly suitable for high-precision processing scenarios, reducing the need for manual intervention

[0032] 3. In the present invention, the differentiated design of step length ΔH1 and correction step length ΔH2, combined with the height deviation proportional compensation algorithm, can accurately correct the material height deviation. When the remaining material pressure is sufficient, a larger step length is used for rapid lifting to improve efficiency; when the pressure is close to the critical value, a smaller correction step length is used to reduce mechanical impact, and the compensation amount is dynamically adjusted according to the actual height deviation to avoid cumulative errors.

[0033] 4. In the present invention, by real-time monitoring of the current fluctuation value I, and combining the preset threshold with the closed-loop compensation algorithm, the motor overload or abnormal wear can be effectively prevented; when the current exceeds Imax, an emergency shutdown is triggered to avoid equipment damage; after three consecutive samplings exceed the limit, the closed-loop compensation is started, and the stepping frequency is dynamically adjusted to balance the load and extend the life of the motor; for example, when the material weight is unevenly distributed or the mechanical resistance suddenly changes, the current fluctuation monitoring can quickly identify the abnormality and adjust the control parameters to ensure the smooth operation of the rising plate; this mechanism is particularly suitable for industrial scenarios with high frequency and long cycle operation, and can significantly improve system reliability and maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The figure is a flow chart of the automatic loading and unloading control method of the present invention.

[0035] Figure 2 It is a structural diagram of the present invention.

[0036] Figure 3 for Figure 2 A partial enlarged view of part A in the middle.

[0037] Figure 1-3 Figure numerals: 1. loading robot; 2. unloading robot; 3. turntable; 4. carrying unit; 5. carrying frame; 6. lifting plate. DETAILED DESCRIPTION

[0038] Reference Figure 1-3 The automatic loading and unloading material control method of the present invention is further described in detail below.

[0039] For ease of explanation, spatial relative terms such as "upper", "lower", "left", "right" and the like are used in the embodiments to illustrate the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, the element described as being "under" other elements or features will be positioned "on" other elements or features. Therefore, the exemplary term "under" can include both upper and lower orientations. The device can be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used here can be interpreted accordingly.

[0040] Furthermore, relational terms such as “first” and “second” and the like are merely used to distinguish one component from another having the same name, but do not necessarily require or imply any such actual relationship or order between these components.

[0041] Figures 1 to 3 An automatic loading and unloading control method shown includes the following steps:

[0042] S1. Equipment configuration: a multi-axis linkage loading robot 1 and unloading robot 2 for loading and unloading materials, a ring-shaped turntable 3 mechanism for carrying materials, and a control unit for controlling the loading robot 1, the unloading robot 2 and the ring-shaped turntable 3 mechanism are set, the turntable 3 mechanism includes a turntable 3, a plurality of bearing units 4 are evenly distributed along the circumference of the center point of the turntable 3, the bearing units 4 include a bearing frame 5 for accommodating and limiting materials, a rising plate 6 arranged at the bottom of the bearing frame 5 for carrying materials and capable of moving linearly along the bearing frame 5, a motor module for controlling the movement of the rising plate 6, a pressure sensor module arranged at the bottom of the rising plate 6, and a laser ranging module for detecting the height of the material;

[0043] S2, initialization positioning: the control unit controls the annular turntable 3 to rotate, so that the first carrying unit 4 rotates to the specified position, which is convenient for the manipulator to pick up and load the material. After rotating to the specified position, the control unit simultaneously controls the carrying unit 4 to lift the rising plate 6 to the initial height H0, so that the top material is located at the outlet end of the carrying frame 5 and is flush with the outlet end;

[0044] S3, dynamic feeding control: the feeding robot 1 grabs the material to the processing place for processing at a preset frequency. After grabbing each piece, the pressure sensing module detects the pressure change value ΔP, and the control unit calculates the remaining material pressure value Px according to ΔP. If Px>the critical maintenance pressure threshold of the material, the rising plate 6 is controlled to rise with a step length of ΔH1; if Px≤the critical maintenance pressure threshold of the material, the laser ranging module is triggered to measure the current material top height Hx. When |Hx-H0|>the allowable height deviation threshold, the rising plate 6 is controlled to compensate for the height deviation with a corrected step length of ΔH2;

[0045] S4, multi-parameter monitoring: the control unit also includes several acquisition modules, including but not limited to those for collecting the current material quantity in the load-bearing unit 4, the cumulative displacement of the rising plate 6, and the current fluctuation value of the motor module; real-time acquisition of the current material quantity Z in the load-bearing unit 4, the cumulative displacement L of the rising plate 6, and the current fluctuation value I of the motor module; if Z < the minimum material remaining warning threshold, and L > the cumulative displacement warning threshold of the rising plate 6, it is determined that the material in the load-bearing unit 4 is about to be exhausted, and the pre-rotation instruction of the turntable 3 is triggered to the control unit;

[0046] S5, switching control of the carrying unit 4: the control unit also includes an angle calculation module. Before the turntable 3 rotates, the control unit calculates the rotation angle θ between the current carrying unit 4 and the next target carrying unit 4 through the angle calculation module. If θ>the maximum rotation angle when the turntable 3 is switched, a staged deceleration strategy is adopted; if θ≤the maximum rotation angle when the turntable 3 is switched, a uniform rotation strategy is adopted, and the rising plate 6 of the target carrying unit 4 is started to be pre-lifted to H0 at the same time;

[0047] S6, feedback adjustment: when the turntable 3 rotates to the right position, the laser distance measurement module is used to verify whether the material height of the target carrying unit 4 meets the standard. If there is a deviation, the linear compensation or nonlinear compensation mode is selected based on the comparison between the historical displacement L and the preset curve;

[0048] S7, material unloading control: when the processing is completed, the unloading robot 2 grabs the processed materials to the finished product at a preset frequency;

[0049] By integrating a multi-axis linkage manipulator, a circular turntable 3 mechanism and a multi-parameter control module, etc., full-process automated loading and unloading control is achieved; the circular turntable 3 mechanism adopts a circumferentially uniformly distributed load-bearing unit 4, combined with a pressure sensing module and a laser ranging module, which can monitor the material status in real time and dynamically adjust the height of the rising plate 6 to ensure that the material is always in the best material picking position; in dynamic loading control, the remaining material amount is judged by the pressure change and the critical threshold, and the step adjustment and height compensation strategy are combined to effectively avoid material accumulation or supply interruption; the acquisition module conducts a comprehensive analysis of the material quantity, displacement and motor current, warns of the risk of material depletion in advance and triggers the pre-rotation of the turntable 3 to reduce the downtime waiting time; the phased deceleration and uniform rotation strategy optimizes the switching efficiency of the turntable 3, and cooperates with the feedback adjustment mechanism to improve the system response accuracy and stability.

[0050] In S3, the critical pressure threshold of the material is dynamically calculated based on the weight G of the single material and the capacity N of the carrying unit 4, specifically G×(N-1)×k, where k is the safety factor and 0.8≤k≤0.95;

[0051] The dynamic calculation of the critical material maintenance pressure threshold is based on the single-piece weight and capacity parameters. By introducing the safety factor k, it is ensured that the pressure threshold can adapt to different material specifications and reserve sufficient redundancy to prevent misjudgment. For example, when the weight of a single piece of material fluctuates or the capacity of the load-bearing unit 4 changes, the threshold is automatically adjusted to avoid material slipping due to insufficient pressure or mechanical jamming due to excessive lifting. This design significantly improves the system's adaptability to different working conditions, and is especially suitable for high-precision processing scenarios, reducing the need for manual intervention.

[0052] In S3, the ratio of the step length ΔH1 to the correction step length ΔH2 is 1:0.3-0.5, and the calculation formula of ΔH2 is ΔH2=ΔH1×(1+|Hx-H0| / H0);

[0053] The differentiated design of step length ΔH1 and correction step length ΔH2, combined with the height deviation proportional compensation algorithm, can accurately correct the material height deviation. When the remaining material pressure is sufficient, a larger step length is used for rapid lifting to improve efficiency; when the pressure is close to the critical value, a smaller correction step length is used to reduce mechanical impact, and the compensation amount is dynamically adjusted according to the actual height deviation to avoid cumulative errors. For example, during the continuous material collection process, after the laser ranging module detects the height deviation, the system gradually converges to the target height through a nonlinear compensation mechanism to ensure the consistency of the material placement position.

[0054] In S4, the real-time monitoring of the motor module current fluctuation value I satisfies the following conditions:

[0055] S41, if the current fluctuation value I exceeds the preset current fluctuation threshold value Imax, the control unit triggers the motor abnormality warning and suspends loading and unloading work;

[0056] S42, if the current fluctuation value I exceeds 0.8Imax for three consecutive sampling periods, the current closed-loop compensation algorithm of the motor module is started to adjust the stepping frequency of the rising board 6;

[0057] By real-time monitoring of the current fluctuation value I and combining the preset threshold with the closed-loop compensation algorithm, the motor overload or abnormal wear can be effectively prevented; when the current exceeds Imax, an emergency shutdown is triggered to avoid equipment damage; closed-loop compensation is started after three consecutive sampling exceeds the limit, and the step frequency is dynamically adjusted to balance the load and extend the motor life; for example, when the material weight is unevenly distributed or the mechanical resistance suddenly changes, the current fluctuation monitoring can quickly identify the abnormality and adjust the control parameters to ensure the smooth operation of the rising board 6; this mechanism is particularly suitable for industrial scenarios with high frequency and long cycle operation, and can significantly improve system reliability and maintenance efficiency.

[0058] In S5, the phased deceleration strategy includes:

[0059] In the first stage, the angular velocity G1 is used to rotate the angle θ1 uniformly;

[0060] In the second stage, the vehicle decelerates to G2 with angular acceleration U;

[0061] In the third stage, the remaining angle θ2 is rotated at a constant speed of G2, and θ1+θ2=θ, U=ΔG / Δt, where ΔG=G1-G2, and Δt is the preset deceleration time;

[0062] The staged deceleration strategy reduces the inertial impact when the turntable 3 is switched through segmented angular velocity control combined with the reasonable distribution of angles θ1 and θ2 to ensure positioning accuracy. For example, when θ is large, the first stage rotates at a uniform speed to avoid mechanical vibration caused by sudden acceleration, the second stage decelerates to reduce kinetic energy, and the third stage completes the remaining angle adjustment at a low speed to allow the turntable 3 to dock smoothly. The strategy can also dynamically select the deceleration mode according to the size of θ to optimize the balance between energy consumption and efficiency. It is especially suitable for scenarios where multiple load-bearing units 4 are frequently switched to reduce equipment wear rate.

[0063] In S6, the nonlinear compensation mode includes:

[0064] If the historical displacement L and the fitting degree of the standard curve R 2 When <0.9, the cubic polynomial compensation algorithm is used;

[0065] If 0.9≤R 2 When <0.95, the exponential compensation algorithm is used;

[0066] If R 2 When ≥0.95, the linear compensation algorithm is used;

[0067] The nonlinear compensation mode selects an algorithm based on the degree of fit between the historical displacement and the preset curve, significantly improving the flexibility and accuracy of height deviation correction; when the degree of fit is low, cubic polynomial compensation can handle complex nonlinear errors; when the degree of fit is medium, exponential compensation takes into account both convergence speed and stability; when the degree of fit is high, linear compensation simplifies calculations and improves response speed; for example, when the material surface is uneven or the support frame 5 is deformed, causing height fluctuations, the mechanism selects the optimal compensation method through an adaptive algorithm, reducing the need for manual calibration.

[0068] The loading robot 1 and the unloading robot 2 adopt a collaborative operation mode, and the action sequence of the two satisfies:

[0069] S7-1, the time interval between the grabbing action of the feeding robot 1 and the rotation of the turntable 3 is ≥ 0.5s;

[0070] S7-2, after the placing action of the unloading robot 2 is triggered, a delay of 0.3s is made to start the switching detection of the turntable 3 carrying unit 4;

[0071] The collaborative operation mode avoids conflicts between the robot and the turntable 3 through timing control, thereby improving operation safety. For example, after the loading robot 1 completes material picking, sufficient time is reserved to ensure that the turntable 3 is stably parked, and then the unloading robot 2 is started to prevent mechanical interference or material falling. This design is particularly suitable for high-beat production lines. Through precise timing synchronization, the collaborative efficiency of the robot and turntable 3 is maximized and waiting time is reduced.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic loading and unloading control method, characterized in that: The following steps are involved: S1. Equipment configuration: a multi-axis linkage loading robot (1) and unloading robot (2) for loading and unloading materials, an annular turntable (3) mechanism for carrying materials, and a control unit for controlling the loading robot (1), the unloading robot (2) and the annular turntable (3) mechanism, wherein the turntable (3) mechanism comprises a turntable (3), a plurality of carrying units (4) uniformly distributed along the circumference of the center point of the turntable (3), the carrying units (4) comprising a carrying frame (5) for accommodating and limiting materials, an ascending plate (6) arranged at the bottom of the carrying frame (5) for carrying materials and capable of linearly moving along the carrying frame (5), a motor module for controlling the movement of the ascending plate (6), a pressure sensing module arranged at the bottom of the ascending plate (6), and a laser ranging module for detecting the height of the materials; S2, initialization positioning: the control unit controls the annular turntable (3) mechanism to rotate, so that the first carrying unit (4) rotates to a specified position, so that the robot can pick up and load the material. After rotating to the specified position, the control unit simultaneously controls the carrying unit (4) to lift the rising plate (6) to an initial height H0, so that the top material is located at the outlet end of the carrying frame (5) and is flush with the outlet end; S3, dynamic feeding control: the feeding robot (1) grabs the material to the processing site for processing at a preset frequency. After grabbing each piece, the pressure sensing module detects the pressure change value ΔP, and the control unit calculates the remaining material pressure value Px according to ΔP. If Px>the critical material pressure threshold, the rising plate (6) is controlled to rise with a step length ΔH1; if Px≤the critical material pressure threshold, the laser ranging module is triggered to measure the current material top height Hx. When |Hx-H0|>the allowable height deviation threshold, the rising plate (6) is controlled to compensate for the height deviation with a correction step length ΔH2; S4, multi-parameter monitoring: the control unit also includes a number of acquisition modules, including but not limited to those for collecting the amount of material in the current carrying unit (4), the cumulative displacement of the rising plate (6), and the current fluctuation value of the motor module; The material quantity Z in the current carrying unit (4), the cumulative displacement L of the ascending plate (6) and the current fluctuation value I of the motor module are collected in real time. If Z is less than the minimum material remaining warning threshold, and L is greater than the cumulative displacement warning threshold of the ascending plate (6), it is determined that the material in the carrying unit (4) is about to be exhausted, and the pre-rotation instruction of the turntable (3) is triggered to the control unit; S5, load-bearing unit (4) switching control: the control unit further comprises an angle calculation module. Before the turntable (3) rotates, the control unit calculates the rotation angle θ between the current load-bearing unit (4) and the next target load-bearing unit (4) through the angle calculation module. If θ> the maximum rotation angle when the turntable (3) is switched, a staged deceleration strategy is adopted; if θ≤ the maximum rotation angle when the turntable (3) is switched, a uniform rotation strategy is adopted, and at the same time, the rising plate (6) of the target load-bearing unit (4) is started to be pre-lifted to H0; S6, feedback adjustment: when the turntable (3) is rotated to the right position, the laser distance measurement module is used to verify whether the material height of the target carrying unit (4) meets the standard. If there is a deviation, the linear compensation mode or the nonlinear compensation mode is selected based on the comparison between the historical displacement L and the preset curve; S7, material unloading control: After the processing is completed, the unloading robot (2) grabs the processed materials to the finished product at a preset frequency.

2. The automatic loading and unloading control method according to claim 1 is characterized in that: In S3, the critical pressure threshold of the material is dynamically calculated based on the weight G of the single material and the capacity N of the carrying unit (4), specifically G×(N-1)×k, where k is a safety factor and 0.8≤k≤0.

95.

3. The automatic loading and unloading control method according to claim 1 is characterized in that: In S3, the ratio of the step length ΔH1 to the correction step length ΔH2 is 1:0.3-0.5, and the calculation formula of ΔH2 is ΔH2=ΔH1×(1+|Hx-H0| / H0).

4. The automatic loading and unloading control method according to claim 1 is characterized in that: In S4, the real-time monitoring of the motor module current fluctuation value I satisfies the following conditions: S41, if the current fluctuation value I exceeds the preset current fluctuation threshold value Imax, the control unit triggers the motor abnormality warning and suspends loading and unloading work; S42, if the current fluctuation value I exceeds 0.8Imax for three consecutive sampling periods, the current closed-loop compensation algorithm of the motor module is started to adjust the stepping frequency of the rising board (6).

5. The automatic loading and unloading control method according to claim 1 is characterized in that: In S5, the phased deceleration strategy includes: In the first stage, the angular velocity G1 is used to rotate the angle θ1 uniformly; In the second stage, the vehicle decelerates to G2 with angular acceleration U; In the third stage, the remaining angle θ2 is rotated at a constant speed of G2, and θ1+θ2=θ, U=ΔG / Δt, where ΔG=G1-G2, and Δt is the preset deceleration time.

6. The automatic loading and unloading control method according to claim 1 is characterized in that: In S6, the nonlinear compensation mode includes: If the historical displacement L and the fitting degree of the standard curve R 2 When <0.9, the cubic polynomial compensation algorithm is used; If 0.9≤R 2 When <0.95, the exponential compensation algorithm is used; If R 2 When ≥0.95, the linear compensation algorithm is used.

7. The automatic loading and unloading control method according to claim 1 is characterized in that: The loading manipulator (1) and the unloading manipulator (2) adopt a collaborative operation mode, and the action sequence of the two satisfies: S7-1, the time interval between the grabbing action of the feeding robot (1) and the rotation of the turntable (3) is ≥ 0.5s; S7-2, after the placing action of the unloading robot (2) is triggered, a delay of 0.3s is made to start the switching detection of the turntable (3) carrying unit (4).

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