A control method for a docking platform to dock a cylindrical object

Abstract

The application provides a control method for docking a cylindrical material by a docking platform, comprising: moving an automatic moving device to below the cylindrical material; two distance measuring devices respectively acquire height distance data h of different points in a positioning area of the cylindrical material, forming data sets M1 and M2; analyzing M1 and M2, respectively acquiring the smallest value h(min) in both, combining a first coordinate system to position coordinate points A1 and A2 corresponding to the smallest value in both distance data sets; projection coordinate points B1 and B2 of coordinate points A1 and A2 on an x-y plane; according to a connecting line L1, a distance difference D2 of coordinate points B1 and B2 on a y axis, calculating a first deviation angle E; rotating the automatic moving device by an angle E; moving the automatic moving device to make the docking platform be located directly below the cylindrical material; and docking the cylindrical material. The control method solves the problem of angle mispositioning of the cylindrical material.

Description

Technical Field

[0001] This invention relates to the field of AGV equipment material handling technology, and in particular to a control method for docking a docking platform with cylindrical materials. Background Technology

[0002] The existing method for handling cylindrical materials using AGV equipment involves moving the AGV under the cylindrical material and then manually controlling the mechanical equipment to place the material into the designated area on the AGV. A pair of grippers on the upper surface of the AGV then clamp the cylindrical material. Clearly, this method of docking AGVs with cylindrical materials is inefficient and unsuitable for automated transport systems. To improve efficiency, the grippers are designed with horizontal X and Y-axis mobility. This allows the AGV to adjust its horizontal position relative to the cylindrical material when it is under the material to complete the docking. However, this design increases both the manufacturing and maintenance costs of the AGV. Furthermore, if the central axis of the cylindrical material deviates significantly from the centerline of the grippers, the grippers may damage the material during clamping. Summary of the Invention

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

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A control method for docking a docking platform with cylindrical material includes an automatic mobile device with a docking platform. The docking platform is provided with a support mechanism for receiving cylindrical material and a ranging device. The support mechanism includes two receiving frames correspondingly arranged at the front and rear of the docking platform. Two ranging devices are provided, and the detection ends of the two ranging devices are arranged parallel to each other and spaced apart. The detection ends of the ranging devices are set perpendicular to the material placement direction of the docking platform.

[0006] The connection line L1 between the detection ends of the two ranging devices is located on the connection line between the middle of the two support frames, and the connection line between the middle of the two support frames is located on the center line of the automatic mobile equipment body. The distance between the detection ends of the two ranging devices is D1.

[0007] Establish a first coordinate system on the automated mobile device, where 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 automated mobile device body, and the z-axis is perpendicular to the automated mobile device body.

[0008] The control method includes:

[0009] The automated mobile equipment moves to a position beneath the cylindrical material.

[0010] Based on the first coordinate system, the two ranging devices respectively acquire the height distance data h of different points in the alignment area of ​​the cylindrical material, forming the front distance data set M1 and the back distance data set M2 respectively;

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

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

[0013] Based on the distance difference D2 between the line L1 and coordinate points B1 and B2 on the y-axis, calculate the first deviation angle E between the central axis H of the cylindrical material and the x-axis of the first coordinate system.

[0014] Rotation angle E of the automatic mobile device;

[0015] The automated mobile equipment locates the material position using a ranging device, and moves to position the docking platform directly below the cylindrical material.

[0016] The cylindrical material is lowered onto the support mechanism, or the support mechanism lifts the material.

[0017] Compared with the prior art, the control method of the present invention for docking a docking platform with cylindrical materials has the following advantages:

[0018] (1) When the automatic mobile device reaches the bottom of the cylindrical material, there may be misalignment between the cylindrical material and the docking platform. This invention obtains the height distance between different positions at the front and rear of the cylindrical material by scanning, and obtains the central axis of the cylindrical material. In this way, the inclination of the line connecting the two receiving frames of the automatic mobile device is obtained, and the misalignment angle of the cylindrical material relative to the docking platform is obtained. Then, the angle of the docking device relative to the material is adjusted to achieve precise docking and solve the problem of misalignment of the docking cylindrical material.

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

[0020] (3) This invention utilizes the characteristic that the lowest point of the outer curved surface of a 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 indicates that there is a misalignment between the automatic mobile device and the central axis of the cylindrical material. At this time, the two receiving frames of the automatic mobile device cannot meet the requirement of simultaneous docking of the two ends of the cylindrical material. Therefore, by calculating the misalignment angle between the cylindrical material and the docking platform, the angle of the docking device relative to the material is adjusted so that the two receiving frames are in the center docking position of the aligned cylindrical material.

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

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

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

[0024] If the curve is an inverse parabola, then obtain the minimum 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 has not been detected. The automatic mobile device adjusts its posture and reacquires the height distance data h of different points in the alignment area of ​​the cylindrical material.

[0026] By taking the lower surface of the cylindrical material as a parabola, and by examining and analyzing the shape of the y-axis distance - z-axis distance curve, it can be determined whether the scanning area of ​​the ranging device covers the lowest point of the cylindrical material, thus avoiding affecting subsequent calculations.

[0027] Preferably, the front of the automated mobile device is used as a reference.

[0028] If the curve is an ascending curve, the corresponding end of the automatic mobile device will adjust its pose to the left.

[0029] If the curve is a descending curve, the corresponding end of the automatic mobile device will adjust its posture to the right.

[0030] If the scanning area of ​​the ranging device does not cover the lowest point of the cylindrical material, the automatic mobile device moves to adjust the position of the corresponding side of the ranging device whose scanning area does not cover the lowest point of the cylindrical material, so that the ranging device can rescan the area that includes the lowest point of the cylindrical material.

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

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

[0033] Preferably, when the automatic mobile device rotates by an angle E, the automatic mobile device rotates around the midpoint of its front end as the axis of rotation;

[0034] Alternatively, the automated mobile device can rotate with the midpoint of its rear end as the axis of rotation.

[0035] Alternatively, the automated mobile device rotates around the midpoint of the line connecting the two support frames as its axis of rotation.

[0036] By using different positions as the axis of rotation, the automatic mobile device will perform corresponding rotational actions.

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

[0038] Based on the front view of the automated mobile device;

[0039] If the line connecting coordinate points B1 and B2 points from left to right on the automatic mobile device, then the automatic mobile device will rotate in one of the following ways:

[0040] i. If the automated mobile device rotates around the midpoint of its front end as the axis of rotation, then the rear end of the automated mobile device will rotate to the right;

[0041] ii. If the automated mobile device rotates around the midpoint of its rear end as the axis of rotation, then the front end of the automated mobile device rotates to the left;

[0042] iii. If the automated mobile device rotates around the midpoint of the line connecting the two support frames as the axis of rotation, then the front end of the automated mobile device will rotate to the left and the rear end will rotate to the right.

[0043] If the line connecting coordinate points B1 and B2 points from right to left on the automatic mobile device, then the automatic mobile device will rotate in one of the following ways:

[0044] i. If the automated mobile device rotates around the midpoint of its front end as the axis of rotation, then the rear end of the automated mobile device will rotate to the left;

[0045] ii. If the automated mobile device rotates around the midpoint of its rear end as the axis of rotation, then the front end of the automated mobile device rotates to the right;

[0046] iii. If the automated mobile device rotates around the midpoint of the line connecting the two support frames as its axis of rotation, then the front end of the automated mobile device will rotate to the right and the rear end will rotate to the left.

[0047] Preferably, after the automatic mobile device rotates by an angle E, the two ranging devices acquire 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 detection positions, and plot it as a y-axis distance-z-axis distance curve.

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

[0049] If the curve is an inverse parabola, then the rotation is considered complete.

[0050] If the curve is an ascending curve, a descending curve, or no material is detected, it is determined that the lowest point on the corresponding side of the cylindrical material was not detected. The automatic mobile device is then moved to adjust its posture and the height distance data h of different points within the alignment area of ​​the cylindrical material is reacquired.

[0051] After the automated mobile device rotates by an angle E, the two ranging devices scan the cylindrical material again, ensuring that the automated mobile device is directly below the cylindrical material, reducing the probability of production safety issues arising from subsequent material reception.

[0052] Another objective of this invention is to provide another control method for docking a docking platform with cylindrical materials, including an automatic mobile device with a docking platform. The docking platform is provided with a support mechanism for receiving cylindrical materials and a ranging device. The support mechanism includes two receiving frames correspondingly arranged at the front and rear of the docking platform. Two ranging devices are provided, with the detection ends of the two ranging devices arranged parallel to each other at intervals. The detection ends of the ranging devices are set perpendicular to the material placement direction of the docking platform.

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

[0054] Establish a first coordinate system on the automated mobile device, where 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 automated mobile device body, and the z-axis is perpendicular to the automated mobile device body.

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

[0056] The control method includes:

[0057] The automated mobile equipment moves to a position beneath the cylindrical material.

[0058] Based on the second coordinate system, the two ranging devices respectively acquire the height distance data h of different points in the alignment area of ​​the cylindrical material, forming the front distance data set M1 and the back distance data set M2 respectively;

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

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

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

[0062] Rotation angle E of the automatic mobile device;

[0063] The automated mobile equipment locates the material position using a ranging device, and moves the automated mobile equipment so that the ranging device is directly below the cylindrical material.

[0064] The second deviation angle F between the first and second coordinate systems along the x-axis is calculated.

[0065] Rotation angle F of the automatic mobile device;

[0066] The automated mobile equipment locates the material position using a ranging device, and moves to position the docking platform directly below the cylindrical material.

[0067] The cylindrical material is lowered onto the support mechanism, or the support mechanism lifts the material.

[0068] Since the line connecting the two receiving frames can ensure that it is located on the centerline of the automated mobile equipment body during the production process, the detection end of the ranging device may be displaced for various reasons. By taking into account the correction angle of the position of the ranging device relative to the line connecting the two receiving frames, we can avoid the displacement of the detection end of the ranging device affecting the calculation of the misalignment angle between the cylindrical material and the centerline of the docking platform.

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

[0070] Given the coordinates of two points, we can determine the formula for a straight line: y = kx + b, where k = tan(a) and a is the angle between the line and the x-axis, i.e., a = arctan(k).

[0071] Preferably, the upper part of the support frame is provided with a receiving port, and the height of the receiving port decreases from both sides towards the middle.

[0072] The support frame is designed in this way to ensure that after cylindrical material comes into contact with the support frame, it can move along the guide on the inner wall of the receiving port to a predetermined position within a limited range of movement. Attached Figure Description

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

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

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

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

[0077] Figure 5 This is a schematic diagram showing the position of line segment L1, which coincides with the centerline of the docking platform, and line A1-A2, which connects the lowest point of the lower surface of the cylindrical material.

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

[0079] Figure 7This is a schematic diagram of an automatic mobile device adjusting its position so that it is directly below the line connecting A1-A2. Detailed Implementation

[0080] The embodiments of the present invention are described below with reference to the accompanying drawings:

[0081] Example 1

[0082] This embodiment provides a control method for docking a docking platform with cylindrical materials, wherein:

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

[0084] See Figure 1 The line L1 connecting the detection ends of the two ranging devices 3 is located on the line connecting the middle of the two support frames 4, and the line connecting the middle of the two support frames 4 is located on the center line of the automatic mobile equipment body. The distance between the detection ends of the two ranging devices is D1.

[0085] Establish a first coordinate system on the automated mobile device, where 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 automated mobile device body, and the z-axis is perpendicular to the automated mobile device body.

[0086] The control method includes:

[0087] The automated mobile equipment moves to a position beneath the cylindrical material.

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

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

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

[0091] Based on the distance difference D2 between the line L1 and coordinate points B1 and B2 on the y-axis, calculate the first deviation angle E between the central axis H of the cylindrical material and the x-axis of the first coordinate system.

[0092] Rotation angle E of the automatic mobile device;

[0093] The automated mobile equipment locates the material position using a ranging device, and moves to position the docking platform directly below the cylindrical material.

[0094] The cylindrical material is lowered onto the support mechanism, or the support mechanism lifts the material.

[0095] The support mechanism is equipped with a pressure sensor. When it comes into contact with the material, the sensor responds to control the docking of the cylindrical object and the support mechanism, which is an application of existing technology.

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

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

[0098] If the curve is an inverse parabola (see...) Figure 2 If the minimum value in the curve is obtained, then 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 If the lowest point on the corresponding side of the cylindrical material is not detected, the automatic mobile device adjusts its pose and reacquires the height distance data h of different points within the alignment area of ​​the cylindrical material.

[0100] By taking the lower surface of the cylindrical material as a parabola, and by examining and analyzing the shape of the y-axis distance - z-axis distance curve, it can be determined whether the scanning area of ​​the ranging device covers the lowest point of the cylindrical material, thus avoiding affecting subsequent calculations.

[0101] Preferably, the front of the automated mobile device is used as a reference.

[0102] If the curve is an ascending curve, the corresponding end of the automatic mobile device will adjust its pose to the left.

[0103] If the curve is a descending curve, the corresponding end of the automatic mobile device will adjust its posture to the right.

[0104] If the scanning area of ​​the ranging device does not cover the lowest point of the cylindrical material, the automatic mobile device moves to adjust the position of the corresponding side of the ranging device whose scanning area does not cover the lowest point of the cylindrical material, so that the ranging device can rescan the area that includes the lowest point of the cylindrical material.

[0105] Preferred, see Figure 6 The first deviation angle E is calculated by using trigonometric functions to calculate the angle between the line L1 and the central axis H of the cylindrical material, based on D1 and D2.

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

[0107] Preferably, when the automatic mobile device rotates by an angle E, the automatic mobile device rotates around the midpoint of its front end as the axis of rotation;

[0108] Alternatively, the automated mobile device can rotate with the midpoint of its rear end as the axis of rotation.

[0109] Alternatively, the automated mobile device rotates around the midpoint of the line connecting the two support frames as its axis of rotation.

[0110] By using different positions as the axis of rotation, the automatic mobile device will perform corresponding rotational actions.

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

[0112] Based on the front view of the automated mobile device;

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

[0114] i. If the automated mobile device rotates around the midpoint of its front end as the axis of rotation, then the rear end of the automated mobile device will rotate to the right;

[0115] ii. If the automated mobile device rotates around the midpoint of its rear end as the axis of rotation, then the front end of the automated mobile device rotates to the left;

[0116] iii. If the automated mobile device rotates around the midpoint of the line connecting the two support frames as the axis of rotation, then the front end of the automated mobile device will rotate to the left and the rear end will rotate to the right.

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

[0118] i. If the automated mobile device rotates around the midpoint of its front end as the axis of rotation, then the rear end of the automated mobile device will rotate to the left;

[0119] ii. If the automated mobile device rotates around the midpoint of its rear end as the axis of rotation, then the front end of the automated mobile device rotates to the right;

[0120] iii. If the automated mobile device rotates around the midpoint of the line connecting the two support frames as its axis of rotation, then the front end of the automated mobile device will rotate to the right and the rear end will rotate to the left.

[0121] Preferably, after the automatic mobile device rotates by an angle E, the two ranging devices acquire 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 detection positions, and plot it as a y-axis distance-z-axis distance curve.

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

[0123] If the curve is an inverse parabola, then the rotation is considered complete.

[0124] If the curve is an ascending curve, a descending curve, or no material is detected, it is determined that the lowest point on the corresponding side of the cylindrical material was not detected. The automatic mobile device is then moved to adjust its posture and the height distance data h of different points within the alignment area of ​​the cylindrical material is reacquired.

[0125] After the automated mobile device rotates by an angle E, the two ranging devices scan the cylindrical material again, ensuring that the automated mobile device is directly below the cylindrical material, reducing the probability of production safety issues arising from subsequent material reception.

[0126] Preferred, see Figure 1 The upper part of the support frame is provided with a receiving port, and the height of the receiving port decreases from both sides to the middle.

[0127] The support frame is designed in this way to ensure that after cylindrical material comes into contact with the support frame, it can move along the guide on the inner wall of the receiving port to a predetermined position within a limited range of movement.

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

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

[0130] If the scanned coordinate points A1 and A2 are located on the x-axis of the first coordinate point after the automated mobile device moves to the material receiving area, it is directly determined that the automated mobile device is directly below the cylindrical material. The judgment of the y-axis distance-z-axis distance curve and the calculation of the first deviation angle E are omitted, and the material docking task is executed directly.

[0131] Because the mass of a cylindrical material is relatively uniform at different points, when the cylindrical material is lifted, the lowest point of its outer surface can basically be on the same horizontal plane. If there is a large height deviation between the front and rear, the force control sensor of the lifting equipment lifting the cylindrical material will report an error and execute an operation to adjust the state of the cylindrical material when it is lifted, ensuring that the lowest point of the outer surface of the cylindrical material can basically be on the same horizontal plane. This is existing technology.

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

[0133] To facilitate viewing the execution of rotation commands by the automated mobile device, the XY coordinate system of the scene map where the automated mobile device is located is marked as a reference coordinate in the accompanying drawings of this invention.

[0134] The method of the present invention is described with the line connecting the two support brackets in the same direction as the line connecting the front and rear ends of the automated mobile device. For the control method of docking cylindrical materials on the same docking platform with the line connecting the two support brackets in the same direction and perpendicular to the line connecting the front and rear ends of the automated mobile device, the first coordinate system can be converted into coordinates of the corresponding angle to execute the above control method. It should be regarded as substantially the same as the control method of the present invention and falls 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 docking a docking platform with cylindrical materials has the following advantages:

[0136] (1) When the automatic mobile device reaches the bottom of the cylindrical material, there may be misalignment between the cylindrical material and the docking platform. This invention obtains the height distance between different positions at the front and rear of the cylindrical material by scanning, and obtains the central axis of the cylindrical material. In this way, the inclination of the line connecting the two receiving frames of the automatic mobile device is obtained, and the misalignment angle of the cylindrical material relative to the docking platform is obtained. Then, the angle of the docking device relative to the material is adjusted to achieve precise docking and solve the problem of misalignment of the docking cylindrical material.

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

[0138] (3) This invention utilizes the characteristic that the lowest point of the outer curved surface of a 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 indicates that there is a misalignment between the automatic mobile device and the central axis of the cylindrical material. At this time, the two receiving frames of the automatic mobile device cannot meet the requirement of simultaneous docking of the two ends of the cylindrical material. Therefore, by calculating the misalignment angle between the cylindrical material and the docking platform, the angle of the docking device relative to the material is adjusted so that the two receiving frames are in the center docking position of the aligned cylindrical material.

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

[0140] Example 2

[0141] Another objective of this invention is to provide another control method for docking a docking platform with cylindrical materials. The difference between this embodiment and Embodiment 1 is that it solves the problem of the position of the detection end of the two ranging devices being deviated from the line connecting the two receiving frames.

[0142] In this embodiment, the line L1 connecting the detection ends of the two ranging devices is not located on the line connecting the middle of the two support frames, the line connecting the middle of the two support frames is located on the center line of the automatic mobile equipment body, and the distance between the detection ends of the two ranging devices is D1.

[0143] Establish a first coordinate system on the automated mobile device, where 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 automated mobile device body, and the z-axis is perpendicular to the automated mobile device body.

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

[0145] The control method includes:

[0146] The automated mobile equipment moves to a position beneath the cylindrical material.

[0147] Based on the second coordinate system, the two ranging devices respectively acquire the height distance data h of different points in the alignment area of ​​the cylindrical material, forming the front distance data set M1 and the back distance data set M2 respectively;

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

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

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

[0151] Rotation angle E of the automatic mobile device;

[0152] The automated mobile equipment locates the material position using a ranging device, and moves the automated mobile equipment so that the ranging device is directly below the cylindrical material.

[0153] The second deviation angle F between the first and second coordinate systems along the x-axis is calculated.

[0154] Rotation angle F of the automatic mobile device;

[0155] The automated mobile equipment locates the material position using a ranging device, and moves to position the docking platform directly below the cylindrical material.

[0156] The cylindrical material is lowered onto the support mechanism, or the support mechanism lifts the material.

[0157] Since the line connecting the two receiving frames can ensure that it is located on the centerline of the automated mobile equipment body during the production process, the detection end of the ranging device may be displaced for various reasons. By taking into account the correction angle of the position of the ranging device relative to the line connecting the two receiving frames, we can avoid the displacement of the detection end of the ranging device affecting the calculation of the misalignment angle between the cylindrical material and the centerline of the docking platform.

[0158] In this embodiment, the coordinate position of the detection end of the ranging device relative to the first coordinate system is entered into the system by the factory inspection personnel when the automatic mobile equipment is first manufactured, and manually entered and corrected by the production personnel when they periodically inspect the automatic mobile equipment.

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

[0160] Given the coordinates of two points, we can determine the formula for a straight line: y = kx + b, where k = tan(a) and a is the angle between the line and the x-axis, i.e., a = arctan(k).

[0161] The relevant methods and steps not mentioned in this embodiment are the same as in Embodiment 1, and will not be described in detail here.

[0162] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can 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 protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A control method for docking a docking platform with cylindrical materials, characterized in that, The device includes an automated mobile device with a docking platform. The docking platform is equipped with a support mechanism for receiving cylindrical materials and a ranging device. The support mechanism includes two receiving frames correspondingly set at the front and rear of the docking platform. There are two ranging devices, and the detection ends of the two ranging devices are arranged parallel to each other and spaced apart. The detection ends of the ranging devices are set perpendicular to the material placement direction of the docking platform. The connection line L1 between the detection ends of the two ranging devices is located on the connection line between the middle of the two support frames, and the connection line between the middle of the two support frames is located on the center line of the automatic mobile equipment body. The distance between the detection ends of the two ranging devices is D1. Establish a first coordinate system on the automated mobile device, where 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 automated mobile device body, and the z-axis is perpendicular to the automated mobile device body. The control method includes: The automated mobile equipment moves to a position beneath the cylindrical material. Based on the first coordinate system, the two ranging devices respectively acquire the height distance data h of different points within the alignment area of ​​the cylindrical material, forming a front distance data set M1 and a rear distance data set M2 respectively; Analyze M1 and M2, and obtain the minimum value hmin between them. Combine the first coordinate system to locate the coordinate points A1 and A2 corresponding to the minimum value in the two distance data sets. The line connecting coordinate points A1 and A2 is coplanar with the central axis H of the cylindrical material. The projected coordinates of coordinate points A1 and A2 on the xy plane of the first coordinate system are B1 and B2, respectively; Based on the distance difference D2 between the line L1 and coordinate points B1 and B2 on the y-axis, calculate the first deviation angle E between the central axis H of the cylindrical material and the x-axis of the first coordinate system. Rotation angle E of the automatic mobile device; The automated mobile equipment locates the material position using a ranging device, and moves to position the docking platform directly below the cylindrical material. The cylindrical material is lowered onto the support mechanism, or the support mechanism lifts 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 as a y-axis distance - z-axis distance curve; Determine the shape of the curve representing the distance from the y-axis to the z-axis; If the curve is an inverse parabola, then obtain the minimum 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 has not been detected. The automatic mobile device adjusts its posture and reacquires the height distance data h of different points in the alignment area of ​​the cylindrical material.

3. The control method according to claim 2, characterized in that, Based on the front view of the automated mobile device; If the curve is an ascending curve, the corresponding end of the automatic mobile device will adjust its pose to the left. If the curve is a descending curve, the corresponding end of the automatic mobile device will adjust its posture 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 to calculate the angle between the connecting line L1 and the central axis H of the cylindrical material, based on D1 and D2.

5. The control method according to claim 1, characterized in that, When the automatic mobile device rotates by an angle E, the automatic mobile device rotates around the midpoint of its front end as the axis of rotation; Alternatively, the automated mobile device can rotate with the midpoint of its rear end as the axis of rotation. Alternatively, the automated mobile device rotates around the midpoint of the line connecting the two support frames as its axis of rotation.

6. The control method according to claim 1, characterized in that, The line connecting coordinate points B1 and B2 is a directed line segment; Based on the front view of the automated mobile device; If the line connecting coordinate points B1 and B2 points from left to right on the automatic mobile device, then the automatic mobile device will rotate in one of the following ways: i. If the automated mobile device rotates around the midpoint of its front end as the axis of rotation, then the rear end of the automated mobile device will rotate to the right; ii. If the automated mobile device rotates around the midpoint of its rear end as the axis of rotation, then the front end of the automated mobile device will rotate to the left; iii. If the automated mobile device rotates around the midpoint of the line connecting the two support frames as its axis of rotation, then the front end of the automated mobile device will rotate to the left and the rear end will rotate to the right. If the line connecting coordinate points B1 and B2 points from right to left on the automatic mobile device, then the automatic mobile device will rotate in one of the following ways: i. If the automated mobile device rotates around the midpoint of its front end as the axis of rotation, then the rear end of the automated mobile device will rotate to the left; ii. If the automated mobile device rotates around the midpoint of its rear end as the axis of rotation, then the front end of the automated mobile device rotates to the right; iii. If the automated mobile device rotates around the midpoint of the line connecting the two support frames as its axis of rotation, then the front end of the automated mobile device will rotate to the right and the rear end will rotate to the left.

7. The control method according to claim 1, characterized in that, After the automatic mobile device rotates by an angle E, the two ranging devices acquire the height distance data of the cylindrical material at different positions in the corresponding area above. The height distance data is arranged in the order of detection positions and plotted as a y-axis distance-z-axis distance curve. Determine the shape of the curve representing the distance from the y-axis to the z-axis; If the curve is an inverse parabola, then the rotation is considered complete. If the curve is an ascending curve, a descending curve, or no material is detected, it is determined that the lowest point on the corresponding side of the cylindrical material was not detected. The automatic mobile device is then moved to adjust its posture and the height distance data h of different points within the alignment area of ​​the cylindrical material is reacquired.

8. A control method for docking a docking platform with cylindrical material, characterized in that, The device includes an automated mobile device with a docking platform. The docking platform is equipped with a support mechanism for receiving cylindrical materials and a ranging device. The support mechanism includes two receiving frames correspondingly set at the front and rear of the docking platform. There are two ranging devices, and the detection ends of the two ranging devices are arranged parallel to each other and spaced apart. The detection ends of the ranging devices are set perpendicular to the material placement direction of the docking platform. The connection line L1 between the detection ends of the two ranging devices is not located on the connection line between the middle of the two support frames, the connection line between the middle of the two support frames is located on the center line of the automatic mobile equipment body, and the distance between the detection ends of the two ranging devices is D1. Establish a first coordinate system on the automated mobile device, where 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 automated mobile device body, and the z-axis is perpendicular to the automated mobile device body. A second coordinate system is established based on line L1, where the x-axis extends from the middle of the detection end of the ranging device located at the front of the docking platform to the middle of the detection end of the ranging device located at the rear of the docking platform, and the y-axis and z-axis take the middle of the detection end of the ranging device located at the front of the docking platform as their origin. The control method includes: The automated mobile equipment moves to a position beneath the cylindrical material. Based on the second coordinate system, the two ranging devices respectively acquire the height distance data h of different points within the alignment area of ​​the cylindrical material, forming a front distance data set M1 and a back distance data set M2 respectively; Analyze M1 and M2, and obtain the minimum value hmin between them. Combine the second coordinate system to locate the coordinate points A1 and A2 corresponding to the minimum value in the two distance data sets. The line connecting coordinate points A1 and A2 is coplanar with the central axis H of the cylindrical material. The projected coordinates of coordinate points A1 and A2 on the xy plane of the second coordinate system are B1 and B2, respectively; Based on the distance difference D2 between the line L1 and coordinate points B1 and B2 on the y-axis, calculate the first deviation angle E between the central axis H of the cylindrical material and the x-axis of the second coordinate system; Rotation angle E of the automatic mobile device; The automated mobile equipment locates the material position using a ranging device, and moves the automated mobile equipment so that the ranging device is directly below the cylindrical material. The second deviation angle F between the first and second coordinate systems along the x-axis is calculated. Rotation angle F of the automatic mobile device; The automated mobile equipment locates the material position using a ranging device, and moves to position the docking platform directly below the cylindrical material. The cylindrical material is lowered onto the support mechanism, or the support mechanism lifts the material.

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

10. The control method according to claim 8, characterized in that, The receiving frame has a receiving port on its upper part, and the height of the receiving port decreases from both sides towards the middle.

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