Control method for enabling butt joint platform to be in butt joint with cylindrical materials

Abstract

The invention provides a control method for enabling a butt joint platform to be in butt joint with a cylindrical material. The control method comprises the steps that automatic moving equipment moves to the position below the cylindrical material; the two distance measuring devices respectively acquire height distance data h of different points in a cylindrical material alignment area to form a data set M1 and a data set M2; the M1 and the M2 are analyzed, the minimum numerical value h (mi < n >) in the M1 and the M2 is obtained, and coordinate points A1 and A2 corresponding to the minimum numerical value in the two distance data sets are positioned by combining the first coordinate system; projection coordinate points B1 and B2 of the coordinate points A1 and A2 on the x-y plane; calculating a first deviation angle E according to the connecting line L1 and the distance difference D2 of the coordinate points B1 and B2 on the y axis; the equipment is automatically moved to rotate by an angle E; the automatic moving equipment moves so that the butt joint platform can be located under the cylindrical materials; and butting the cylindrical material. According to the control method, the problem of material angle dislocation of the butt-joint cylinders is solved.

Description

Technical Field

[0001] The invention relates to the technical field of AGV equipment material handling, and in particular to a control method for enabling a docking platform to dock with cylindrical materials. Background Art

[0002] The existing method of transporting cylindrical materials by AGV equipment is that the AGV equipment moves to the bottom of the cylindrical material, and then the mechanical equipment is controlled by manual methods to place the cylindrical material in the designated placement area of ​​the AGV equipment. A pair of clamping arms on the upper end surface of the AGV equipment clamp the clamping arms of the cylindrical material. Obviously, this method of docking cylindrical materials with AGV equipment has low operating efficiency and cannot be applied to automated transportation systems. In order to improve operating efficiency, by setting the clamping arms to have mobility in the X and Y directions in the horizontal direction, when the AGV equipment is under the cylindrical material, the horizontal position of the clamping arms relative to the cylindrical material can be adjusted to complete docking with the cylindrical material. However, this setting method, on the one hand, leads to an increase in the manufacturing cost of the AGV equipment and an increase in the maintenance cost of parts. On the other hand, if the central axis of the cylindrical material deviates greatly from the central line of the two clamping arms, the cylindrical material will be damaged when the clamping arms clamp the cylindrical material. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a control method for docking a docking platform with a cylindrical material. By scanning the height distances at different positions in the front and rear of the cylindrical material respectively, the inclination of the central axis of the cylindrical material relative to the connecting line of two receiving frames of an automatic moving device is obtained. The automatic moving device adjusts its position according to the inclination to be directly below the cylindrical material to solve the problem of angular misalignment of the docking cylindrical material.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A control method for docking a cylindrical material on a docking platform, comprising an automatic mobile device having a docking platform, wherein a supporting mechanism and a distance measuring device for receiving the cylindrical material are provided on the docking platform, wherein the supporting mechanism comprises two receiving frames correspondingly arranged at the front and rear of the docking platform, and two distance measuring devices are provided, wherein the detection ends of the two distance measuring devices are arranged parallel to each other and spaced apart, and the detection ends of the distance measuring devices are arranged perpendicular to the material placement direction of the docking platform;

[0006] The connecting line L1 between the detection ends of the two distance measuring devices is located on the connecting line of the middle parts of the two receiving frames, the connecting line of the middle parts of the two receiving frames is located on the center line of the body of the automatic mobile equipment, and the distance between the detection ends of the two distance measuring devices is D1;

[0007] Establish a first coordinate system on the automatic moving device, wherein the x-axis extends from the middle of the receiving frame located at the front of the docking platform to the middle of the receiving frame located at the rear of the docking platform, the y-axis extends along the width of the automatic moving device, and the z-axis is perpendicular to the body of the automatic moving device;

[0008] The control method comprises:

[0009] The automatic mobile device moves under the cylindrical material;

[0010] Based on the first coordinate system, the two distance measuring devices respectively obtain the height distance data h of different points in the cylindrical material alignment area, and form a front distance data set M1 and a rear distance data set M2 respectively;

[0011] Analyze M1 and M2, obtain the smallest value h(min) of the two respectively, and locate the coordinate points A1 and A2 corresponding to the smallest values ​​in the two distance data sets in combination with the first coordinate system, where the line connecting the coordinate points A1 and A2 is coplanar with the central axis H of the cylindrical material;

[0012] The projection coordinate points of coordinate points A1 and A2 on the xy plane of the first coordinate system are B1 and B2 respectively;

[0013] According to the distance difference D2 between the connecting line L1 and the coordinate points B1 and B2 on the y-axis, the first deviation angle E between the central axis H of the cylindrical material and the x-axis of the first coordinate system is calculated;

[0014] Automatically move the equipment to rotate at an angle E;

[0015] The automatic mobile device locates the material position through the distance measuring device, and the automatic mobile device moves so that the docking platform is located directly below the cylindrical material;

[0016] The cylindrical material is lowered onto the supporting mechanism, or the supporting mechanism lifts up to take the material.

[0017] Compared with the prior art, the control method of the present invention for making the docking platform dock with cylindrical materials has the following beneficial effects:

[0018] (1) When the automatic moving device reaches the bottom of the cylindrical material, there may be misalignment between the cylindrical material and the docking platform. The present invention obtains the height distances at different positions of the front and rear of the cylindrical material by scanning, and obtains the central axis of the cylindrical material, thereby obtaining the inclination of the connecting line of the two receiving frames of the automatic moving device, and obtaining the misalignment angle of the cylindrical material relative to the docking platform, and then adjusting the angle of the docking device relative to the material to achieve precise docking, so as to solve the problem of misalignment of the cylindrical material when docking;

[0019] (2) The core of the present invention is that two distance measuring devices (high-precision distance measuring sensors) are arranged at intervals and are arranged on the same straight line with the two receiving frames. By scanning the two ends of the bottom of the cylindrical material to be docked, the distance h from the distance measuring device to the surface of the cylindrical material is obtained, and the minimum value hx of the front of the material and the minimum value hx of the rear of the material are obtained by data comparison. The minimum value hx is the center position of the area of ​​the cylindrical material being scanned;

[0020] (3) The present invention utilizes the characteristic that the lowest point of the outer curved surface of the cylinder is parallel to the central axis. When the center positions of the two ends of the cylindrical material are not on the same straight line, it means that there is a misalignment between the automatic moving device and the central axis of the cylindrical material. At this time, the two receiving frames of the automatic moving device cannot meet the requirement of simultaneous docking of the two ends of the cylindrical material. Therefore, by calculating the misalignment angle of the cylindrical material relative to the docking platform, the angle of the docking device relative to the material is adjusted so that the two receiving frames are in the docking position of the center of the cylindrical material;

[0021] (4) In the present invention, the misalignment angle of the cylindrical material relative to the docking platform is obtained according to the projection points B1 and B2 of the coordinate points A1 and A2, thereby forming a line segment B1-B2 coplanar with L1 on the xy plane, which facilitates the subsequent calculation of the angle between the two coplanar line segments (because after the cylindrical material is lifted / lifted, the points on the same vertical plane are at the same horizontal position, so the length of the line segment A1-A2 is the same as the length of the line segment B1-B2 formed by the projection).

[0022] Preferably, when analyzing M1 and M2, the height distance data are arranged in the order of the detection positions and plotted into a y-axis distance-z-axis distance curve;

[0023] Determine the shape of the y-axis distance-z-axis distance curve;

[0024] If the curve is an inverse parabola, obtain the smallest value in the curve and proceed to the next step;

[0025] If the curve is an ascending curve or a descending curve, it is determined that the lowest point on the corresponding side of the cylindrical material is not detected, and the device is automatically moved to adjust the posture to re-acquire the height distance data h of different points in the cylindrical material alignment area.

[0026] It is known that the lower surface of the cylindrical material is a parabola. By inspecting and analyzing the shape of the y-axis distance-z-axis distance curve, it can be determined whether the scanning area of ​​the distance measuring device covers the lowest point of the cylindrical material, thereby avoiding affecting subsequent calculations.

[0027] Preferably, the reference is the front of the automatic moving device;

[0028] If the curve is an ascending curve, the corresponding end of the automatic equipment is adjusted to the left;

[0029] If the curve is a descending curve, the corresponding end of the automatic device is adjusted to the right.

[0030] In the case where the scanning area of ​​the distance measuring device does not cover the lowest point of the cylindrical material, the automatic moving device moves to adjust the position of the corresponding side of the distance measuring device whose scanning area does not cover the lowest point of the cylindrical material, so that the distance measuring device can re-scan the area including the lowest point of the cylindrical material.

[0031] Preferably, the first deviation angle E is calculated by calculating the angle between the connecting line L1 and the central axis H of the cylindrical material based on D1 and D2 in combination with trigonometric functions.

[0032] When the lengths of the two line segments are known and the two line segments are perpendicular to each other, the angle between the third side and the other two sides can be quickly calculated through trigonometric functions. In the present invention, X = the distance D1 between the two distance measuring devices, Y = the horizontal position difference between the two center positions (distance D2), and the deviation angle between the docking platform and the docking cylindrical material can be obtained through the trigonometric function relationship, the first deviation angle E = (ASIN (Y / X)) * (180.0 / π).

[0033] Preferably, when the automatic moving device rotates at an angle E, the automatic moving device rotates with the front end midpoint as the rotation axis;

[0034] Alternatively, the automatic moving device rotates with the midpoint of the rear end as the rotation axis;

[0035] Alternatively, the automatic moving device rotates with the midpoint of the line connecting the two receiving frames as the rotation axis.

[0036] With different positions as the rotation axis, the automatic moving device makes a corresponding rotation movement.

[0037] Preferably, the line connecting the coordinate point B1 and the coordinate point B2 is a directed line segment;

[0038] The reference is the front of the automatic mobile equipment;

[0039] If the left side of the automatic moving device of the line connecting coordinate point B1 and coordinate point B2 points to the right side, the automatic moving device rotates in one of the following ways:

[0040] i. If the automatic moving device rotates with the front midpoint as the rotation axis, the rear end of the automatic moving device rotates to the right;

[0041] ii. If the automatic moving device rotates with the midpoint of the rear end as the rotation axis, the front end of the automatic moving device rotates to the left;

[0042] iii. If the automatic moving device rotates with the midpoint of the line connecting the two receiving frames as the rotation axis, the front end of the automatic moving device rotates to the left and the rear end rotates to the right;

[0043] If the right side of the automatic moving device of the line connecting coordinate point B1 and coordinate point B2 points to the left, the automatic moving device rotates in one of the following ways:

[0044] i. If the automatic moving device rotates with the front midpoint as the rotation axis, the rear end of the automatic moving device rotates to the left;

[0045] ii. If the automatic moving device rotates with the midpoint of the rear end as the rotation axis, the front end of the automatic moving device rotates to the right;

[0046] iii. If the automatic moving device rotates with the midpoint of the line connecting the two receiving frames as the rotation axis, the front end of the automatic moving device rotates to the right and the rear end rotates to the left.

[0047] Preferably, after the automatic moving device rotates by an angle E, the two distance measuring devices respectively obtain the height distance data of the cylindrical material at different positions in the corresponding area above, arrange the height distance data in the order of the detection positions and draw a y-axis distance-z-axis distance curve;

[0048] Determine the shape of the y-axis distance-z-axis distance curve;

[0049] If the curve is an inverse parabola, the rotation is considered to be in place;

[0050] If the curve is an ascending curve or a descending curve or no material is detected, it is determined that the lowest point on the corresponding side of the cylindrical material is not detected, and the automatic device is moved horizontally to adjust the posture, and the height distance data h of different points in the cylindrical material alignment area are re-acquired.

[0051] After the automatic mobile device rotates at angle E, the two distance measuring devices scan the cylindrical material again, which can ensure that the automatic mobile device is located directly below the cylindrical material, thereby reducing the probability of production safety problems in the subsequent receipt of materials.

[0052] Another object of the invention is to provide another control method for docking a cylindrical material on a docking platform, comprising an automatic mobile device having a docking platform, the docking platform being provided with a supporting mechanism and a distance measuring device for receiving the cylindrical material, the supporting mechanism comprising two receiving frames correspondingly arranged at the front and rear of the docking platform, two distance measuring devices being provided, the detection ends of the two distance measuring devices being arranged parallel to each other and spaced apart, and the detection ends of the distance measuring devices being arranged perpendicular to the material placement direction of the docking platform;

[0053] The connecting line L1 between the detection ends of the two distance measuring devices is not located on the connecting line with the middle parts of the two receiving frames. The connecting line of the middle parts of the two receiving frames is located on the center line of the body of the automatic mobile equipment. The distance between the detection ends of the two distance measuring devices is D1.

[0054] Establish a first coordinate system on the automatic moving device, wherein the x-axis extends from the middle of the receiving frame located at the front of the docking platform to the middle of the receiving frame located at the rear of the docking platform, the y-axis extends along the width of the automatic moving device, and the z-axis is perpendicular to the body of the automatic moving device;

[0055] A second coordinate system is established based on the line L1, wherein the x-axis extends from the middle of the detection end of the distance measuring device located at the front of the docking platform to the middle of the detection end of the distance measuring device located at the rear of the docking platform, and the y-axis and the z-axis take the middle of the detection end of the distance measuring device located at the front of the docking platform as the origin;

[0056] The control method comprises:

[0057] The automatic mobile device moves under the cylindrical material;

[0058] Based on the second coordinate system, the two distance measuring devices respectively obtain the height distance data h of different points in the cylindrical material alignment area, and form a front distance data set M1 and a rear distance data set M2 respectively;

[0059] Analyze M1 and M2, obtain the smallest value h(min) of the two respectively, and locate the coordinate points A1 and A2 corresponding to the smallest values ​​in the two distance data sets in combination with the second coordinate system, where the line connecting the coordinate points A1 and A2 is coplanar with the central axis H of the cylindrical material;

[0060] The projection coordinate points of coordinate points A1 and A2 on the xy plane of the second coordinate system are B1 and B2 respectively;

[0061] According to the distance difference D2 between the connecting line L1 and the coordinate points B1 and B2 on the y-axis, the first deviation angle E between the central axis H of the cylindrical material and the x-axis of the second coordinate system is calculated;

[0062] Automatically move the equipment to rotate at an angle E;

[0063] The automatic mobile device locates the material position through the distance measuring device, and the automatic mobile device moves so that the distance measuring device is located directly below the cylindrical material;

[0064] Calculate and obtain a second deviation angle F between the x-axis of the first coordinate system and the second coordinate system;

[0065] Automatically move the equipment to rotate at an angle F;

[0066] The automatic mobile device locates the material position through the distance measuring device, and the automatic mobile device moves so that the docking platform is located directly below the cylindrical material;

[0067] The cylindrical material is lowered onto the supporting mechanism, or the supporting mechanism lifts up to take the material.

[0068] Since the connecting line in the middle of the two receiving frames can ensure that it is located on the center line of the automatic mobile equipment body during the production process, the detection end of the distance measuring device may be displaced due to various reasons. By taking the correction angle of the position of the distance measuring device relative to the connecting line in the middle of the two receiving frames into consideration, it is avoided that the detection end of the distance measuring device affects the calculation of the misalignment angle of the cylindrical material relative to the center line of the docking platform due to the displacement.

[0069] Preferably, the angle between the connecting line L1 and the x-axis of the first coordinate system is the second deviation angle F.

[0070] The coordinates of the two points are known, so the formula of the straight line can be determined: y=kx+b, where k=tan(a), a is the angle between the straight line and the x-axis, that is, a=arctan(k).

[0071] Preferably, a receiving opening is provided at the upper portion of the support bracket, and the height of the receiving opening decreases from both sides to the middle.

[0072] The support frame is arranged in this way, which can ensure that after the cylindrical material abuts against the support frame, it can move along the guide of the inner side wall of the receiving port to a predetermined position within a limited movement range. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 It is a schematic diagram of the docking platform docking cylindrical materials;

[0074] Figure 2 is a schematic diagram of the first case of the scanning effect diagram of the ranging device;

[0075] Figure 3 is a schematic diagram of the second situation of the scanning effect diagram of the ranging device;

[0076] Figure 4 is a schematic diagram of the third situation of the scanning effect diagram of the ranging device;

[0077] Figure 5 It is a schematic diagram of the position of the line segment L1 coinciding with the center line of the docking platform and the line A1-A2 connecting the lowest point of the lower surface of the cylindrical material;

[0078] Figure 6 It is a schematic diagram that the line segment L1 and the projection line B1-B2 of the line A1-A2 are in the same plane;

[0079] Figure 7It is a schematic diagram of automatically moving the device to adjust its position so that it is located directly below the connecting line A1-A2. DETAILED DESCRIPTION

[0080] The following describes the embodiments of the present invention in conjunction with the accompanying drawings:

[0081] Embodiment 1

[0082] A control method for making a docking platform dock with a cylindrical material in this embodiment, wherein:

[0083] See also Figure 1 An automatic mobile device with a docking platform 1 is provided on the docking platform 1. A supporting mechanism for receiving a cylindrical material 2 and a distance measuring device 3 are provided on the docking platform 1. The supporting mechanism includes two receiving frames 4 correspondingly arranged at the front and rear of the docking platform 2. Two distance measuring devices 3 are provided. The detection ends of the two distance measuring devices 3 are arranged parallel to each other and spaced apart. The detection end of the distance measuring device 3 is arranged perpendicular to the material placement direction of the docking platform 1.

[0084] See also Figure 1 , the connection line L1 between the detection ends of the two distance measuring devices 3 is located on the connection line of the middle parts of the two receiving frames 4, the connection line of the middle parts of the two receiving frames 4 is located on the center line of the body of the automatic mobile equipment, and the distance between the detection ends of the two distance measuring devices is D1;

[0085] Establish a first coordinate system on the automatic moving device, wherein the x-axis extends from the middle of the receiving frame located at the front of the docking platform to the middle of the receiving frame located at the rear of the docking platform, the y-axis extends along the width of the automatic moving device, and the z-axis is perpendicular to the body of the automatic moving device;

[0086] The control method comprises:

[0087] The automatic mobile device moves under the cylindrical material;

[0088] Based on the first coordinate system, two distance measuring devices (scanning range is fan-shaped) respectively obtain height distance data h of different points in the alignment area of ​​the cylindrical material, forming a front distance data set M1 and a rear distance data set M2 respectively;

[0089] Analyze M1 and M2, obtain the smallest value h(min) of the two respectively, and locate the coordinate points A1 and A2 corresponding to the smallest values ​​in the two distance data sets in combination with the first coordinate system, where the line connecting the coordinate points A1 and A2 is coplanar with the central axis H of the cylindrical material;

[0090] The projection coordinate points of coordinate points A1 and A2 on the xy plane of the first coordinate system are B1 and B2 respectively;

[0091] According to the distance difference D2 between the connecting line L1 and the coordinate points B1 and B2 on the y-axis, the first deviation angle E between the central axis H of the cylindrical material and the x-axis of the first coordinate system is calculated;

[0092] Automatically move the equipment to rotate at an angle E;

[0093] The automatic mobile device locates the material position through the distance measuring device, and the automatic mobile device moves so that the docking platform is located directly below the cylindrical material;

[0094] The cylindrical material is lowered onto the supporting mechanism, or the supporting mechanism lifts up to take the material.

[0095] A pressure sensor is provided on the supporting mechanism, and after contacting the material, the sensor responds to control the docking of the cylindrical object and the supporting mechanism, which belongs to the application of the existing technology.

[0096] Preferably, when analyzing M1 and M2, the height distance data are arranged in the order of the detection positions and plotted into a y-axis distance-z-axis distance curve;

[0097] Determine the shape of the y-axis distance-z-axis distance curve;

[0098] If the curve is an inverse parabola (see Figure 2 ), then obtain the minimum value in the curve respectively and proceed to the next step;

[0099] If the curve is an ascending curve (see Figure 3 ) or the curve is a descending curve (see Figure 4 ), it is determined that the lowest point on the corresponding side of the cylindrical material is not detected, and the device is automatically moved to adjust the posture to re-acquire the height distance data h of different points in the cylindrical material alignment area.

[0100] It is known that the lower surface of the cylindrical material is a parabola. By inspecting and analyzing the shape of the y-axis distance-z-axis distance curve, it can be determined whether the scanning area of ​​the distance measuring device covers the lowest point of the cylindrical material, thereby avoiding affecting subsequent calculations.

[0101] Preferably, the reference is the front of the automatic moving device;

[0102] If the curve is an ascending curve, the corresponding end of the automatic equipment is adjusted to the left;

[0103] If the curve is a descending curve, the corresponding end of the automatic device is adjusted to the right.

[0104] In the case where the scanning area of ​​the distance measuring device does not cover the lowest point of the cylindrical material, the automatic moving device moves to adjust the position of the corresponding side of the distance measuring device whose scanning area does not cover the lowest point of the cylindrical material, so that the distance measuring device can re-scan the area including the lowest point of the cylindrical material.

[0105] Preferably, see Figure 6 The calculation method of the first deviation angle E is to calculate the angle between the connecting line L1 and the central axis H of the cylindrical material based on D1 and D2 in combination with trigonometric functions.

[0106] When the lengths of the two line segments are known and the two line segments are perpendicular to each other, the angle between the third side and the other two sides can be quickly calculated through trigonometric functions. In the present invention, X = the distance D1 between the two distance measuring devices, Y = the horizontal position difference between the two center positions (distance D2), and the deviation angle between the docking platform and the docking cylindrical material can be obtained through the trigonometric function relationship, the first deviation angle E = (ASIN (Y / X)) * (180.0 / π).

[0107] Preferably, when the automatic moving device rotates at an angle E, the automatic moving device rotates with the front end midpoint as the rotation axis;

[0108] Alternatively, the automatic moving device rotates with the midpoint of the rear end as the rotation axis;

[0109] Alternatively, the automatic moving device rotates with the midpoint of the line connecting the two receiving frames as the rotation axis.

[0110] With different positions as the rotation axis, the automatic moving device makes a corresponding rotation movement.

[0111] Preferably, the line connecting the coordinate point B1 and the coordinate point B2 is a directed line segment;

[0112] The reference is the front of the automatic mobile equipment;

[0113] If the line connecting coordinate point B1 and coordinate point B2 automatically moves the left side of the device to the right side (see Figure 7 ), the automatic device rotates in one of the following ways:

[0114] i. If the automatic moving device rotates with the front midpoint as the rotation axis, the rear end of the automatic moving device rotates to the right;

[0115] ii. If the automatic moving device rotates with the midpoint of the rear end as the rotation axis, the front end of the automatic moving device rotates to the left;

[0116] iii. If the automatic moving device rotates with the midpoint of the line connecting the two receiving frames as the rotation axis, the front end of the automatic moving device rotates to the left and the rear end rotates to the right;

[0117] If the line connecting coordinate point B1 and coordinate point B2 automatically moves the right side of the device to the left (with Figure 7If the line segment A1-A2 is a mirror image of the object along the x-axis, the automatic moving device rotates in one of the following ways:

[0118] i. If the automatic moving device rotates with the front midpoint as the rotation axis, the rear end of the automatic moving device rotates to the left;

[0119] ii. If the automatic moving device rotates with the midpoint of the rear end as the rotation axis, the front end of the automatic moving device rotates to the right;

[0120] iii. If the automatic moving device rotates with the midpoint of the line connecting the two receiving frames as the rotation axis, the front end of the automatic moving device rotates to the right and the rear end rotates to the left.

[0121] Preferably, after the automatic moving device rotates by an angle E, the two distance measuring devices respectively obtain the height distance data of the cylindrical material at different positions in the corresponding area above, arrange the height distance data in the order of the detection positions and draw a y-axis distance-z-axis distance curve;

[0122] Determine the shape of the y-axis distance-z-axis distance curve;

[0123] If the curve is an inverse parabola, the rotation is considered to be in place;

[0124] If the curve is an ascending curve or a descending curve or no material is detected, it is determined that the lowest point on the corresponding side of the cylindrical material is not detected, and the automatic device is moved horizontally to adjust the posture, and the height distance data h of different points in the cylindrical material alignment area are re-acquired.

[0125] After the automatic mobile device rotates at angle E, the two distance measuring devices scan the cylindrical material again, which can ensure that the automatic mobile device is located directly below the cylindrical material, thereby reducing the probability of production safety problems in the subsequent receipt of materials.

[0126] Preferably, see Figure 1 A receiving opening is provided at the upper part of the support frame, and the height of the receiving opening decreases from both sides to the middle.

[0127] The support frame is arranged in this way, which can ensure that after the cylindrical material abuts against the support frame, it can move along the guide of the inner side wall of the receiving port to a predetermined position within a limited movement range.

[0128] The connecting line L1 is a directed line segment, the direction of which is the same as the x-axis of the first coordinate system, and the length of which is the same as the distance D1 between the detection ends of the two distance measuring devices.

[0129] Since the automatic mobile equipment moves to the material receiving area to receive materials according to control instructions, and the material receiving area is set by production personnel according to actual production conditions, the position of the cylindrical material is fixed relative to the material receiving area, and the automatic mobile equipment in the material receiving area can scan the outer surface of the cylindrical material through the ranging device.

[0130] When the automatic moving device moves to the material receiving area and the scanned coordinate points A1 and A2 are located on the x-axis of the first coordinate point, it is directly judged that the automatic moving device is located directly below the cylindrical material, eliminating the judgment of the y-axis distance-z-axis distance curve and the calculation of the first deviation angle E, and the material docking task is directly executed.

[0131] Since the mass of different points of the cylindrical material is relatively uniform, when the cylindrical material is lifted, the lowest point of the outer surface can basically be on the same horizontal plane. If there is a large height deviation between the front and rear parts, the force control sensor of the lifting equipment that lifts the cylindrical material will report an error, and operations will be performed to adjust the state of the cylindrical material when it is lifted to ensure that the lowest point of the outer surface of the cylindrical material can basically be on the same horizontal plane. This belongs to the prior art.

[0132] In the present invention, the x and y coordinates of coordinate points A1 and A2 can be obtained by scanning through a distance measuring device, or by reading the position feedback information of a lifting device that lifts the cylindrical material. Since the lifting device is parallel to the central axis of the cylindrical material, the horizontal servo position of the lifting device is relative to the position of the first coordinate system, and its x and y coordinates are the x and y coordinates of coordinate points A1 and A2, which belongs to the prior art.

[0133] In order to facilitate viewing of the automatic moving device executing the rotation instruction, in the attached drawings of the present invention, the XY coordinate system of the scene map of the scene where the automatic moving device is located is marked as a reference coordinate.

[0134] The method of the present invention is described based on the situation that the direction of the line connecting the two supporting brackets is the same as the direction of the line connecting the front and rear ends of the automatic moving device. For the control method of docking cylindrical materials on the same docking platform in which the line connecting the two supporting brackets is in the same direction and perpendicular to the line connecting the front and rear ends of the automatic moving device, the above-mentioned control method can be executed by converting the first coordinate system into coordinates of the corresponding angle, which should be regarded as substantially the same as the control method of the present invention and fall within the protection scope of the control method of the present invention.

[0135] Compared with the prior art, the control method of the present invention for making the docking platform dock with cylindrical materials has the following beneficial effects:

[0136] (1) When the automatic moving device reaches the bottom of the cylindrical material, there may be misalignment between the cylindrical material and the docking platform. The present invention obtains the height distances at different positions of the front and rear of the cylindrical material by scanning, and obtains the central axis of the cylindrical material, thereby obtaining the inclination of the connecting line of the two receiving frames of the automatic moving device, and obtaining the misalignment angle of the cylindrical material relative to the docking platform, and then adjusting the angle of the docking device relative to the material to achieve precise docking, so as to solve the problem of misalignment of the cylindrical material when docking;

[0137] (2) The core of the present invention is that two distance measuring devices (high-precision distance measuring sensors) are arranged at intervals and are arranged on the same straight line with the two receiving frames. By scanning the two ends of the bottom of the cylindrical material to be docked, the distance h from the distance measuring device to the surface of the cylindrical material is obtained, and the minimum value hx of the front of the material and the minimum value hx of the rear of the material are obtained by data comparison. The minimum value hx is the center position of the area of ​​the cylindrical material being scanned;

[0138] (3) The present invention utilizes the characteristic that the lowest point of the outer curved surface of the cylinder is parallel to the central axis. When the center positions of the two ends of the cylindrical material are not on the same straight line, it means that there is a misalignment between the automatic moving device and the central axis of the cylindrical material. At this time, the two receiving frames of the automatic moving device cannot meet the requirement of simultaneous docking of the two ends of the cylindrical material. Therefore, by calculating the misalignment angle of the cylindrical material relative to the docking platform, the angle of the docking device relative to the material is adjusted so that the two receiving frames are in the docking position of the center of the cylindrical material;

[0139] (4) In the present invention, the misalignment angle of the cylindrical material relative to the docking platform is obtained according to the projection points B1 and B2 of the coordinate points A1 and A2, thereby forming a line segment B1-B2 coplanar with L1 on the xy plane, which facilitates the subsequent calculation of the angle between the two coplanar line segments (because after the cylindrical material is lifted / lifted, the points on the same vertical plane are at the same horizontal position, so the length of the line segment A1-A2 is the same as the length of the line segment B1-B2 formed by the projection).

[0140] Embodiment 2

[0141] Another purpose of the present invention is to provide another control method for docking a docking platform with cylindrical materials. The difference between this embodiment and the first embodiment is that it solves the problem that the positions of the detection ends of the two distance measuring devices are offset relative to the connection line of the two receiving frames.

[0142] In this embodiment, the connection line L1 between the detection ends of the two distance measuring devices is not located on the connection line with the middle parts of the two receiving frames. The connection line of the middle parts of the two receiving frames is located on the center line of the body of the automatic moving equipment. The distance between the detection ends of the two distance measuring devices is D1.

[0143] Establish a first coordinate system on the automatic moving device, wherein the x-axis extends from the middle of the receiving frame located at the front of the docking platform to the middle of the receiving frame located at the rear of the docking platform, the y-axis extends along the width of the automatic moving device, and the z-axis is perpendicular to the body of the automatic moving device;

[0144] A second coordinate system is established based on the line L1, wherein the x-axis extends from the middle of the detection end of the distance measuring device located at the front of the docking platform to the middle of the detection end of the distance measuring device located at the rear of the docking platform, and the y-axis and the z-axis take the middle of the detection end of the distance measuring device located at the front of the docking platform as the origin;

[0145] The control method comprises:

[0146] The automatic mobile device moves under the cylindrical material;

[0147] Based on the second coordinate system, the two distance measuring devices respectively obtain the height distance data h of different points in the cylindrical material alignment area, and form a front distance data set M1 and a rear distance data set M2 respectively;

[0148] Analyze M1 and M2, obtain the smallest value h(min) of the two respectively, and locate the coordinate points A1 and A2 corresponding to the smallest values ​​in the two distance data sets in combination with the second coordinate system, where the line connecting the coordinate points A1 and A2 is coplanar with the central axis H of the cylindrical material;

[0149] The projection coordinate points of coordinate points A1 and A2 on the xy plane of the second coordinate system are B1 and B2 respectively;

[0150] According to the distance difference D2 between the connecting line L1 and the coordinate points B1 and B2 on the y-axis, the first deviation angle E between the central axis H of the cylindrical material and the x-axis of the second coordinate system is calculated;

[0151] Automatically move the equipment to rotate at an angle E;

[0152] The automatic mobile device locates the material position through the distance measuring device, and the automatic mobile device moves so that the distance measuring device is located directly below the cylindrical material;

[0153] Calculate and obtain a second deviation angle F between the x-axis of the first coordinate system and the second coordinate system;

[0154] Automatically move the equipment to rotate at an angle F;

[0155] The automatic mobile device locates the material position through the distance measuring device, and the automatic mobile device moves so that the docking platform is located directly below the cylindrical material;

[0156] The cylindrical material is lowered onto the supporting mechanism, or the supporting mechanism lifts up to take the material.

[0157] Since the connecting line in the middle of the two receiving frames can ensure that it is located on the center line of the automatic mobile equipment body during the production process, the detection end of the distance measuring device may be displaced due to various reasons. By taking the correction angle of the position of the distance measuring device relative to the connecting line in the middle of the two receiving frames into consideration, it is avoided that the detection end of the distance measuring device affects the calculation of the misalignment angle of the cylindrical material relative to the center line of the docking platform due to the displacement.

[0158] In this embodiment, the coordinate position of the detection end of the distance measuring device relative to the first coordinate system is entered into the system by factory inspection personnel when the automatic moving device is just shipped out of the factory, and is manually input and corrected by production personnel when regularly inspecting the automatic moving device.

[0159] Preferably, the angle between the connecting line L1 and the x-axis of the first coordinate system is the second deviation angle F.

[0160] The coordinates of the two points are known, so the formula of the straight line can be determined: y=kx+b, where k=tan(a), a is the angle between the straight line and the x-axis, that is, a=arctan(k).

[0161] The relevant method steps not mentioned in this embodiment are the same as those in Embodiment 1 and are not described in detail here.

[0162] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. A control method for docking a docking platform with a cylindrical material, characterized in that: It comprises an automatic mobile device with a docking platform, the docking platform is provided with a supporting mechanism and a distance measuring device for receiving cylindrical materials, the supporting mechanism comprises two receiving frames correspondingly arranged at the front and rear of the docking platform, two distance measuring devices are provided, the detection ends of the two distance measuring devices are arranged parallel to each other and spaced apart, and the detection ends of the distance measuring devices are arranged perpendicular to the material placement direction of the docking platform; The connecting line L1 between the detection ends of the two distance measuring devices is located on the connecting line of the middle parts of the two receiving frames, the connecting line of the middle parts of the two receiving frames is located on the center line of the body of the automatic mobile equipment, and the distance between the detection ends of the two distance measuring devices is D1; Establish a first coordinate system on the automatic moving device, wherein the x-axis extends from the middle of the receiving frame located at the front of the docking platform to the middle of the receiving frame located at the rear of the docking platform, the y-axis extends along the width of the automatic moving device, and the z-axis is perpendicular to the body of the automatic moving device; The control method comprises: The automatic mobile device moves under the cylindrical material; Based on the first coordinate system, the two distance measuring devices respectively obtain the height distance data h of different points in the cylindrical material alignment area, and form a front distance data set M1 and a rear distance data set M2 respectively; Analyze M1 and M2, obtain the smallest value h(min) of the two respectively, and locate the coordinate points A1 and A2 corresponding to the smallest values ​​in the two distance data sets in combination with the first coordinate system, where the line connecting the coordinate points A1 and A2 is coplanar with the central axis H of the cylindrical material; The projection coordinate points of coordinate points A1 and A2 on the xy plane of the first coordinate system are B1 and B2 respectively; According to the distance difference D2 between the connecting line L1 and the coordinate points B1 and B2 on the y-axis, the first deviation angle E between the central axis H of the cylindrical material and the x-axis of the first coordinate system is calculated; Automatically move the equipment to rotate at an angle E; The automatic mobile device locates the material position through the distance measuring device, and the automatic mobile device moves so that the docking platform is located directly below the cylindrical material; The cylindrical material is lowered onto the supporting mechanism, or the supporting mechanism lifts up to take the material.

2. The control method according to claim 1, characterized in that: When analyzing M1 and M2, the height distance data are arranged in the order of detection positions and plotted into a y-axis distance-z-axis distance curve; Determine the shape of the y-axis distance-z-axis distance curve; If the curve is an inverse parabola, obtain the smallest value in the curve and proceed to the next step; If the curve is an ascending curve or a descending curve, it is determined that the lowest point on the corresponding side of the cylindrical material is not detected, and the device is automatically moved to adjust the posture to re-acquire the height distance data h of different points in the cylindrical material alignment area.

3. The control method according to claim 2, characterized in that: The reference is the front of the automatic mobile equipment; If the curve is an ascending curve, the corresponding end of the automatic equipment is adjusted to the left; If the curve is a descending curve, the corresponding end of the automatic device is adjusted to the right.

4. The control method according to claim 1, characterized in that: The first deviation angle E is calculated by using trigonometric functions based on D1 and D2 to calculate the angle between the connecting line L1 and the central axis H of the cylindrical material.

5. The control method according to claim 1, characterized in that: When the automatic moving device rotates at an angle E, the automatic moving device rotates with the front end midpoint as the rotation axis; Alternatively, the automatic moving device rotates with the midpoint of the rear end as the rotation axis; Alternatively, the automatic moving device rotates with the midpoint of the line connecting the two receiving frames as the rotation axis.

6. The control method according to claim 1, characterized in that: The line connecting the coordinate point B1 and the coordinate point B2 is a directed line segment; The reference is the front of the automatic mobile equipment; If the left side of the automatic moving device of the line connecting coordinate point B1 and coordinate point B2 points to the right side, the automatic moving device rotates in one of the following ways: i. If the automatic moving device rotates with the front midpoint as the rotation axis, the rear end of the automatic moving device rotates to the right; ii. If the automatic moving device rotates with the midpoint of the rear end as the rotation axis, the front end of the automatic moving device rotates to the left; iii. If the automatic moving device rotates with the midpoint of the line connecting the two receiving frames as the rotation axis, the front end of the automatic moving device rotates to the left and the rear end rotates to the right; If the right side of the automatic moving device of the line connecting coordinate point B1 and coordinate point B2 points to the left, the automatic moving device rotates in one of the following ways: i. If the automatic moving device rotates with the front midpoint as the rotation axis, the rear end of the automatic moving device rotates to the left; ii. If the automatic moving device rotates with the midpoint of the rear end as the rotation axis, the front end of the automatic moving device rotates to the right; iii. If the automatic moving device rotates with the midpoint of the line connecting the two receiving frames as the rotation axis, the front end of the automatic moving device rotates to the right and the rear end rotates to the left.

7. The control method according to claim 1, characterized in that: After the automatic equipment rotates by angle E, the two distance measuring devices respectively obtain the height distance data of the cylindrical material at different positions in the corresponding area above, arrange the height distance data in the order of the detection positions and draw a y-axis distance-z-axis distance curve; Determine the shape of the y-axis distance-z-axis distance curve; If the curve is an inverse parabola, the rotation is considered to be in place; If the curve is an ascending curve or a descending curve or no material is detected, it is determined that the lowest point on the corresponding side of the cylindrical material is not detected, and the automatic device is moved horizontally to adjust the posture, and the height distance data h of different points in the cylindrical material alignment area are re-acquired.

8. A control method for docking a docking platform with a cylindrical material, characterized in that: It comprises an automatic mobile device with a docking platform, the docking platform is provided with a supporting mechanism and a distance measuring device for receiving cylindrical materials, the supporting mechanism comprises two receiving frames correspondingly arranged at the front and rear of the docking platform, two distance measuring devices are provided, the detection ends of the two distance measuring devices are arranged parallel to each other and spaced apart, and the detection ends of the distance measuring devices are arranged perpendicular to the material placement direction of the docking platform; The connecting line L1 between the detection ends of the two distance measuring devices is not located on the connecting line with the middle parts of the two receiving frames. The connecting line of the middle parts of the two receiving frames is located on the center line of the body of the automatic mobile equipment. The distance between the detection ends of the two distance measuring devices is D1. Establish a first coordinate system on the automatic moving device, wherein the x-axis extends from the middle of the receiving frame located at the front of the docking platform to the middle of the receiving frame located at the rear of the docking platform, the y-axis extends along the width of the automatic moving device, and the z-axis is perpendicular to the body of the automatic moving device; A second coordinate system is established based on the line L1, wherein the x-axis extends from the middle of the detection end of the distance measuring device located at the front of the docking platform to the middle of the detection end of the distance measuring device located at the rear of the docking platform, and the y-axis and the z-axis take the middle of the detection end of the distance measuring device located at the front of the docking platform as the origin; The control method comprises: The automatic mobile device moves under the cylindrical material; Based on the second coordinate system, the two distance measuring devices respectively obtain the height distance data h of different points in the cylindrical material alignment area, forming a front distance data set M1 and a rear distance data set M2 respectively; Analyze M1 and M2, obtain the smallest value h(min) of the two respectively, and locate the coordinate points A1 and A2 corresponding to the smallest values ​​in the two distance data sets in combination with the second coordinate system, where the line connecting the coordinate points A1 and A2 is coplanar with the central axis H of the cylindrical material; The projection coordinate points of coordinate points A1 and A2 on the xy plane of the second coordinate system are B1 and B2 respectively; According to the distance difference D2 between the connecting line L1 and the coordinate points B1 and B2 on the y-axis, the first deviation angle E between the central axis H of the cylindrical material and the x-axis of the second coordinate system is calculated; Automatically move the equipment to rotate at an angle E; The automatic mobile device locates the material position through the distance measuring device, and the automatic mobile device moves so that the distance measuring device is located directly below the cylindrical material; Calculate and obtain a second deviation angle F between the x-axis of the first coordinate system and the second coordinate system; Automatically move the equipment to rotate at an angle F; The automatic mobile device locates the material position through the distance measuring device, and the automatic mobile device moves so that the docking platform is located directly below the cylindrical material; The cylindrical material is lowered onto the supporting mechanism, or the supporting mechanism lifts up to take the material.

9. The control method according to claim 8, characterized in that: The angle between the connecting line L1 and the x-axis of the first coordinate system is the second deviation angle F.

10. The control method according to claim 1 or 8, characterized in that: A receiving opening is arranged on the upper part of the supporting frame, and the height of the receiving opening decreases from both sides to the middle part.

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