Automatic crane pipe linear downward insertion method, system and equipment and medium

Abstract

The invention provides an automatic crane pipe linear downward insertion method, system and device and a medium, and belongs to the technical field of crane pipes. The method comprises the steps that a tank opening corresponding to downward insertion is recognized, and coordinates of the tank opening are analyzed; obtaining an initial position, a target position and an insertion point number of straight line insertion; analyzing the coordinate of each point according to the interpolated point number; based on the coordinate of each point, the rotation angle of the mechanical arm corresponding to each point is calculated; calculating an encoder value of a driver according to the rotation angle of the mechanical arm corresponding to each point; and the driver is controlled according to the value of the encoder to drive the mechanical arm to move to the corresponding downward insertion point, and downward insertion operation is executed. Through the arrangement of the timer and the movement completion mark, the movement of each shaft can be tightly matched, and the phenomena of incoordination and jamming in the movement process are avoided. The crane pipe can sequentially complete movement of all points according to the preset track and sequence, the positioning precision and the operation efficiency of the crane pipe are improved, and meanwhile the risks of touching a tank opening and the like are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of crane pipes, and in particular relates to an automatic crane pipe linear insertion method, device, equipment and medium. Background Art

[0002] The chemical industry itself is corrosive, toxic, flammable, and explosive. Once a safety accident occurs, the consequences are serious. In the chemical industry, liquids are mainly transported by tank trucks, and the filling mode mainly relies on personnel operating the crane pipe for filling. The crane pipe is a pipe that can be extended and moved like a crane neck. It is mainly composed of fixed, rotating, operating, and balancing mechanisms. The crane pipe is generally loaded by operators on site. The filling personnel need to move to the top of each tank truck, align the vertical pipe of the crane pipe with the tank mouth, insert the crane pipe, and visually observe the liquid level in the tank to control the filling process. During the filling operation, leakage, splashing, and volatilization may cause harm to the operators. People working on the platform are prone to falls and even injuries, causing casualties. The labor intensity is high, and the working environment affects the health of the operators, posing a safety hazard.

[0003] During the use of a crane, the downward movement of the drop tube typically follows an arc. When the tank opening is small, the arc of the drop tube's trajectory during descent makes it very likely to contact the edge of the tank opening. This is especially true when the drop tube is equipped with a sealing plug, which significantly increases the probability of contact between the bottom of the plug and the edge of the tank opening. This contact can prevent the plug from properly inserting into the tank opening, or even if it is barely inserted, it may not achieve a good seal. This can affect the safety and efficiency of liquid loading and unloading, and may even cause safety incidents such as liquid leakage.

[0004] When a crane needs to move multiple points, related methods often struggle to ensure coordinated and continuous motion between these points. Movements along different axes can experience time lags or incoordination, leading to stuttering and jitter during crane movement, impacting crane positioning accuracy and operational efficiency. Furthermore, the lack of an effective coordination mechanism can cause the crane to deviate from its intended trajectory, further increasing the risk of contact with the tank opening. Summary of the Invention

[0005] The present invention provides an automatic crane pipe linear insertion method. The method converts the arc motion of the crane pipe into linear motion through the coordinated movement of the three axes of the crane pipe, ensuring that the crane pipe does not touch the tank mouth during the insertion process, so that the crane pipe can be smoothly and accurately inserted into the tank mouth from the center point of the tank mouth.

[0006] The robotic arm of the automatic crane comprises an inner arm, an outer arm, and a drop tube; a first end of the outer arm is rotatably connected to one end of the drop tube; a second end of the outer arm is rotatably connected to the first end of the inner arm, and the second end of the inner arm is connected to a frame; the inner arm, the outer arm, and the drop tube are each connected to a driver for driving their movement; Methods include: Identify the corresponding tank opening and analyze the tank opening coordinates; Get the initial position, target position and number of points of the linear interpolation; According to the number of interpolated points, the coordinates of each point are parsed; Based on the coordinates of each point, calculate the rotation angle of the robotic arm corresponding to each point; Calculate the encoder value of the driver based on the robot arm rotation angle corresponding to each point; The driver is controlled according to the encoder value to drive the robotic arm to move to the corresponding insertion point to perform the insertion operation.

[0007] It should be further explained that, in the method, the tank opening is identified and the tank opening coordinates (x1, y1, z1) are calculated by the visual positioning module; Get the height h1 of the vertical pipe above the tank mouth. The initial position of the crane pipe is (x1, y1, z1 + h1). Get the height h2 of the given vertical pipe inserted into the tank mouth, and the target position of the crane pipe is (x1, y1, z1-h2); The distance that the crane pipe is inserted straight down is h1+h2. The distance of the straight line insertion is divided into N segments. The distance of each segment is p=(h1+h2) / N. The movement of the straight line insertion includes N points. The coordinates of each point are: .

[0008] It should be further explained that in this method, the coordinates of each point interpolated from the straight line are converted into the rotation angle of the robot arm through the following formula:

[0009]

[0010]

[0011] Where: i 1. i 2. i 3 corresponds to the rotation angle of the inner arm, outer arm, and vertical tube, ( x , y , z ) is the coordinate of each point interpolated under the target straight line, L 0. L 1. L 2. L 3. L 4 are the base height, inner arm length, outer arm length, vertical tube length, and wrist length of the robot arm.

[0012] Further, it should be noted that in the method, the rotation angle of the robotic arm corresponding to each point of the linear interpolation is calculated by the following formula: .

[0013] Further, it should be noted that according to the following formula, the rotation angle of each interpolation point is converted into the encoder value of the corresponding driver:

[0014] In the formula: e i is the encoder value corresponding to the i joint, i i is the rotation angle of each robotic arm, n is the number of teeth of the driver, t is the accuracy of the encoder, b i is the initial encoder value.

[0015] Further, it should be noted that the encoder value of the robotic arm driver corresponding to each point of the downward interpolation is calculated by the following formula:

[0016] The encoder values corresponding to each robotic arm of each linear interpolation point are sent to the control module, and the control module controls the driver according to the encoder values to drive the robotic arm to move to the corresponding position.

[0017] Further, it should be noted that in the method, the motion execution strategy for setting N points of the vertical pipe interpolation specifically includes the following steps: Store the encoder values corresponding to the three axes of N interpolation points in an N * 3 array Array; Traverse the N-dimensional array, each time take out the three encoder values of a point, the count of the currently executed point is Cur, the initial value is 0, a timer T1 is set for each axis, and the longest movement time for each axis is t; When Cur < N, start the timer. When T1 < t, the three axes of the robotic arm execute the movement actions respectively, and set the movement completion flag after execution; Set the movement completion flag after the robotic arm movement is completed, reset the timer T1, and increment the value of Cur by 1; When T1 > t, terminate the current movement and execute the movement of the next point, and increment the value of Cur by 1; Loop through each point. When Cur ≥ N, end the entire execution process.

[0018] The present application also provides an automatic crane pipe linear insertion system, the system comprising: a visual positioning and analysis module, a plurality of automatic crane pipes and a control module; the mechanical arm of the automatic crane pipe comprises: an inner arm, an outer arm and a drop pipe; a first end of the outer arm is rotatably connected to one end of the drop pipe; a second end of the outer arm is rotatably connected to the first end of the inner arm, and the second end of the inner arm is connected to a frame; the inner arm, the outer arm and the drop pipe are respectively connected to a driver for driving the movement thereof; The visual positioning and analysis module identifies the tank opening corresponding to the interpolation and analyzes the coordinates of the tank opening; obtains the initial position, target position, and number of interpolated points of the linear interpolation; analyzes the coordinates of each point based on the number of interpolated points; calculates the rotation angle of the robot arm corresponding to each point based on the coordinates of each point; and calculates the encoder value of the driver based on the robot arm rotation angle corresponding to each point; The control module controls the driver according to the encoder value, drives the robotic arm to move to the corresponding insertion point, and performs the insertion operation.

[0019] According to another embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the automatic crane pipe linear insertion method when executing the program.

[0020] According to another embodiment of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the automatic crane pipe linear insertion method are implemented.

[0021] It can be seen from the above technical solutions that the present invention has the following advantages: The automatic crane pipe linear insertion method provided by the present application adopts the vertical pipe linear motion method, which calculates the coordinates of each point of the linear insertion and converts them into the rotation angle of the robot arm and the encoder value of the driver, thereby controlling the crane pipe to be inserted along a straight line trajectory. The present application can obtain the coordinates of the tank mouth through the visual positioning system, determine the initial position and the target position, and then divide the straight line insertion distance into N segments, calculate the point coordinates corresponding to each segment, and then calculate the robot arm rotation angle and encoder value based on these coordinates. Finally, the driver drives the crane pipe to move according to the encoder value. In this way, the linear motion of the vertical pipe reduces the risk of the vertical pipe touching the tank mouth during the descent process. The vertical pipe can be inserted into the tank mouth accurately along a straight line trajectory. Even if the tank mouth is small, it can ensure that the sealing plug is smoothly inserted into the tank mouth and achieve a good sealing effect, thereby improving the safety and efficiency of liquid loading and unloading.

[0022] This application designs a motion execution strategy for inserting N points of a vertical pipe. An N*3 array Array is used to store the encoder values corresponding to the three axes of the N insertion points, and then the array is traversed to take out the three encoder values of one point each time. A timer T1 is set for each axis, and the maximum time t for each axis movement is set. This motion execution strategy ensures the coordinated movement and continuity between the N points. By setting the timer and the motion completion flag, the movement of each axis can be closely coordinated, avoiding incoordination and jamming during the movement. The crane pipe can complete the movement of each point in sequence according to the predetermined trajectory and sequence, which improves the positioning accuracy and operating efficiency of the crane pipe, and also reduces the risk of touching the tank mouth. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of the automatic crane pipe; Figure 2 This is a flow chart of the automatic crane pipe linear insertion method; Figure 3 This is a flow chart of an embodiment of an automatic crane pipe linear insertion method; Figure 4 Schematic diagram of an electronic device. DETAILED DESCRIPTION

[0025] The purpose of the automatic crane pipe linear insertion method provided in this application is to solve the problem that the automatic crane pipe cannot maintain linear motion during the insertion process of the tank mouth. The present invention designs a crane pipe linear insertion method without changing the original crane pipe structure. Through the coordinated movement of the three axes of the crane pipe, the arc motion of the crane pipe is converted into linear motion, ensuring that the crane pipe does not touch the tank mouth during the insertion process, so that the crane pipe can be smoothly and accurately inserted into the tank mouth from the center point of the tank mouth.

[0026] The following describes in detail the steps of the automated crane pipe linear insertion method involved in this application. Specific details, such as specific system structures and techniques, are provided for illustrative purposes, not for limitation, to facilitate a thorough understanding of the embodiments of this application. However, those skilled in the art will appreciate that this application may also be implemented in other embodiments without these specific details.

[0027] It should be understood that when used in this specification, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their collections. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0028] The phrases "one embodiment" or "some embodiments" described in this application mean that the specific features, structures, or characteristics described in the embodiment are included in one or more embodiments of the application. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. that appear in different places in this application do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized.

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] like Figure 1 As shown, the present embodiment relates to a robotic arm for automatic lifting of the pipe, comprising: an inner arm 1, an outer arm 2 and a vertical pipe 5; the first end of the outer arm 2 is rotatably connected to one end of the vertical pipe 5; the second end of the outer arm 2 is rotatably connected to the first end of the inner arm 1, and the second end of the inner arm 1 is connected to the frame 4; the inner arm 1, the outer arm 2 and the vertical pipe 5 are respectively connected to a driver 3 for driving them to move.

[0031] The outer arm 2 is connected to an outer tube, which can load and unload liquids from a container. A driver 3 can drive the outer arm 2 to swing or move according to control commands. Naturally, the outer tube and outer arm 2 move synchronously. The inner arm 1 is coupled to the inner tube, and the inner tube and inner arm move synchronously. The driver 3 can also drive the inner arm to swing or rotate around the frame according to control commands.

[0032] The actuator 3 involved in this embodiment can be a motor or a hydraulic actuator 3. Taking a motor as an example, the second end of the inner arm is securely connected to the frame via a rotary joint. The actuator 3 is typically a motor, connected to the inner arm's rotating shaft via a reducer. When a control command is issued, the motor is energized, driving the reducer to output torque, thereby driving the inner arm to swing or rotate around the frame. The inner arm's rotation angle can be monitored in real time by an angle sensor installed on the rotating shaft and fed back to the control module for precise control of the inner arm's position. The inner tube and the inner arm are mechanically connected for synchronized movement. One end of the inner tube is connected to the liquid delivery source, and the other end extends into the interior of the inner arm, ensuring synchronized movement with the inner arm during liquid delivery, preventing disconnection or misalignment. The synchronized movement of the inner tube and the inner arm ensures the stability of the liquid delivery path, avoiding the risk of liquid leakage caused by swaying or displacement of the inner tube during movement, and improving the safety and reliability of the delivery process.

[0033] In this embodiment, the first end of the outer arm 2 is rotatably connected to the vertical tube 5 via a swivel joint, and the second end of the outer arm 2 is similarly connected to the first end of the inner arm via a swivel joint. The actuator 3 connected to the outer arm 2 is typically a hydraulic cylinder or an electric push rod. Taking a hydraulic cylinder as an example, after receiving control commands, the hydraulic system pumps hydraulic oil to different chambers of the cylinder via an oil pump, driving the piston, which in turn drives the outer arm 2 to swing or move. During the movement of the outer arm 2, auxiliary devices such as linear guides or rollers can be installed to ensure smooth movement. The swinging and movement of the outer arm 2 under the action of the actuator 3 allows the outer tube to be precisely aligned with different positions within the container, meeting the requirements of varying depths and angles during liquid loading and unloading. For example, when loading and unloading liquids at different levels within a large storage tank, the outer arm 2 can be flexibly adjusted, improving loading and unloading efficiency.

[0034] The drop tube 5 of this embodiment is designed to naturally droop under the influence of gravity. To ensure greater stability during movement, a counterweight is typically installed inside the drop tube 5. When the outer arm 2 drives the drop tube 5, the drop tube 5 can flexibly adjust its angle based on the movement of the outer arm 2. A flow control valve and a liquid level sensor are installed at the lower end of the drop tube 5. The flow control valve precisely controls the flow of liquid according to instructions from the control module. The liquid level sensor monitors the liquid level in the container in real time and feeds this data back to the control module, allowing for timely adjustment of the loading and unloading speed and cessation of loading and unloading operations.

[0035] See also Figure 2 The figure is a flow chart of a method for automatically inserting a crane pipe in a straight line in a specific embodiment, the method comprising: S101: Identify the corresponding tank opening and analyze the tank opening coordinates.

[0036] In this embodiment, the can opening is identified based on image recognition. Laser radar combined with machine vision can be used to capture images of the can opening area and establish a three-dimensional coordinate system. An image recognition algorithm extracts and analyzes features in the image.

[0037] Optionally, the edge contour of the can mouth is identified by an edge detection algorithm, and then combined with a shape matching algorithm, the extracted contour is compared with a pre-stored can mouth template to accurately identify the can mouth.

[0038] After identifying the can opening, its coordinates are determined. This can be done using a two-dimensional coordinate system. Using the camera's calibration parameters and the pixel position of the can opening in the image, geometric methods such as triangle similarity can be used to calculate the can opening's coordinates in the real world. A three-dimensional coordinate system might require multiple cameras capturing images from different angles, using methods such as triangulation to accurately calculate the can opening's three-dimensional coordinates.

[0039] It should be noted that the can opening coordinates in the visual coordinate system are converted to the Cartesian coordinate system of the robotic arm. By calibrating the translation and rotation relationship between the two coordinate systems, the final coordinates of the can opening in the robotic arm coordinate system are obtained.

[0040] S102: Acquire the initial position, target position, and number of interpolation points of the linear interpolation.

[0041] In some embodiments, the initial position is the current position of the robotic arm, and the coordinates in the coordinate system are obtained through the encoder of the robotic arm itself.

[0042] The target position is determined based on the specific location within the tank where the insertion is required, based on factors such as the distribution of the liquid within the tank and the operational process requirements. The number of insertion points is determined based on the operational precision required; the more points there are, the more precise the insertion process.

[0043] Alternatively, if the insertion process is smoother and less impactful, the number of insertion points can be increased for longer insertion distances. If the insertion time is critical and the tank environment allows for a certain degree of speed variation, the number of insertion points can be reduced.

[0044] S103: Analyze the coordinates of each point based on the number of interpolated points.

[0045] In this embodiment, it is possible to define the initial point (x0, y0) (x0, y0) and the target point (x target ,y target ) performs linear segmentation and calculates the coordinates of each intermediate point based on the following method:

[0046] where i=0,1,2,…,n−1.

[0047] In this embodiment, another method is to establish a forward kinematics model of the vertical tube movement, and set the coordinates of each interpolation point to (X i ,Y i ,Z i ), which can be specifically decomposed into the outer arm pitch angle , inner arm rotation angle i , Vertical tube expansion L i : .

[0048] S104: Based on the coordinates of each point, calculate the rotation angle of the robotic arm corresponding to each point.

[0049] In this embodiment, the inner arm, outer arm, and vertical tube of the robot arm are connected by hinges. The rotation angle of each hinge determines the position of the end of the robot arm. The lengths of each hinge of the robot arm can be defined as lc1 and lc2 respectively. Calculate the position vector of the end of the robot arm in space In the plane polar coordinate system, the rotation angle of the first hinge is For the calculation of other joint angles, we can use geometric knowledge such as the cosine theorem, combined with the length of each joint of the robot arm and the end position vector to solve.

[0050] Optionally, according to To solve the rotation angle of the second hinge Where r is the distance from the root to the end of the robot arm, which can be calculated based on the coordinates. The angle of the third joint is then calculated using a similar geometric relationship.

[0051] S105: Calculate the encoder value of the driver according to the robot arm rotation angle corresponding to each point.

[0052] In this embodiment, the encoder is used to measure the rotation angle of the driver. Usually, the resolution of the encoder is known, for example, there are m pulses per revolution. For a certain joint rotation angle θ, the corresponding encoder value is e i It can be calculated by proportional relationship.

[0053] e i =θ×m / (2π).

[0054] Alternatively, under a reducer with a reduction ratio of k, e i =θ×k×m / (2π). In this way, the rotation angle of the robot arm joint is converted into a value that can be recognized and controlled by the driver encoder.

[0055] S106: Control the driver according to the encoder value to drive the robotic arm to move to the corresponding insertion point to perform the insertion operation.

[0056] In this embodiment, the control module receives the calculated encoder value and sends it to the corresponding driver. The driver accurately controls the rotation of the robot arm joint through motor drive and other methods based on the received encoder value.

[0057] For example, the motor driver adjusts the motor's speed and direction of rotation based on the encoder value, causing the motor to rotate the robotic arm joint to a specified angle, thereby moving the robotic arm's end to the corresponding insertion point. During this movement, the driver monitors the actual rotation angle fed back by the encoder in real time and compares it with the target encoder value. If there is a deviation, the closed-loop control algorithm adjusts the motor output to ensure that the robotic arm accurately moves to the target position. The robot then executes the insertion operation, such as inserting a crane pipe for liquid loading and unloading.

[0058] The automatic crane pipe linear insertion method involved in this application uses a visual system to accurately identify the coordinates of the tank mouth, and uses mathematical algorithms to accurately calculate the coordinates of each insertion point and the rotation angle of the robotic arm, ensuring that the crane pipe can reach the predetermined position with extremely high precision. Combined with the real-time feedback mechanism in S105, the action path can be adjusted or the operation can be stopped in time when encountering obstacles to avoid collision damage to equipment or vehicles. Automatically completing the crane pipe linear insertion can complete tank mouth identification, path planning and actual insertion operations, shortening the time of a single operation.

[0059] On the basis of the above embodiments, in order to further improve the reliability of the automatic crane pipe linear insertion method provided in the above embodiments, the following is an implementable method. In one embodiment, the automatic crane pipe linear insertion method includes the following specific steps: S201: Identify the tank opening through the visual positioning system and calculate the tank opening coordinates (x1, y1, z1).

[0060] S202: Given the height h1 of the vertical pipe above the tank mouth, the initial position of the crane pipe is (x1, y1, z1+h1).

[0061] S203: Given the height h2 of the vertical pipe inserted into the tank mouth, the target position of the crane pipe movement is (x1, y1, z1-h2).

[0062] S204: The distance of the crane pipe inserted straight down is h1+h2. The distance of the straight down is divided into N segments. The distance of each segment is p=(h1+h2) / N. The straight down movement includes N points. The size of N can be selected according to the actual situation. Generally, a point is selected at a distance of 2 cm. The coordinates of each point are .

[0063] S205: The coordinates of each point interpolated from the straight line are converted into the rotation angle of the robot arm using the following formula:

[0064]

[0065]

[0066] Where: i 1. i 2. i 3 corresponds to the rotation angle of the inner arm, outer arm, and vertical tube, ( x , y , z ) is the coordinate of each point interpolated under the target straight line, L 0. L 1. L 2. L 3. L 4 are the base height, inner arm length, outer arm length, vertical tube length, and wrist length of the robot arm.

[0067] The rotation angle of the robotic arm corresponding to each point of the straight line interpolation is calculated by the above formula:

[0068] S206: Convert the rotation angle of each lower interpolation point into the corresponding encoder value of the driver according to the following formula: .

[0069] Where: e i For the i The encoder value corresponding to the joint, i i is the rotation angle of each robot arm, n is the number of teeth of the driver, t is the accuracy of the encoder, b i The initial encoder value is calculated by the above formula to obtain the encoder value of the robot driver corresponding to each point of the lower line interpolation. .

[0070] S207: Send the encoder value corresponding to each robotic arm at each interpolation point of the straight line to the control system, and the control system drives the crane to move to each position according to the encoder value.

[0071] Since the movement between N points requires coordinated movement to ensure continuity between the N points, this embodiment designs a movement execution strategy for inserting N points with a vertical pipe, such as Figure 3 The specific strategies shown are as follows: Store the encoder values corresponding to the three axes of N insertion points in an N * 3 array Array.

[0072] Traverse the N-dimensional array. Each time, take out the three encoder values of a point. The count of the currently executed point is Cur, with an initial value of 0. Set a timer T1 for each axis. The longest movement time for each axis is t. When Cur < N, start the timer. When T1 < t, the three axes of the robotic arm perform movement actions respectively. After the execution is completed, set the movement completion flag. When the movements of all three axes are completed, set the unified movement completion flag, reset the timer T1, and increment the value of Cur by 1; when T1 > t, terminate the current movement and execute the movement of the next point, and increment the value of Cur by 1.

[0073] Loop through each point. When Cur ≥ N, end the entire execution process.

[0074] The calculation method for the straight-line movement of the loading arm in this embodiment can convert the arc movement of the vertical pipe into a straight-line movement, ensure that the vertical pipe is inserted vertically into the tank mouth, avoid collisions between the vertical pipe and the tank mouth during the insertion process of the vertical pipe or the situation where the sealing plug cannot be inserted into the tank mouth, solve the problem of how to accurately insert the vertical pipe into the tank mouth, improve the filling efficiency and safety during the filling process, and solve the long-term unsolved problems in the liquid filling industry.

[0075] Combined with the above method, the following gives a specific embodiment: In the storage tank area of a large petrochemical enterprise, there are a large number of cylindrical storage tanks of different specifications for storing various petrochemical products. The sizes of the tank mouths of these storage tanks are different. The diameter of some small tank mouths is 0.5 meters, and there are extremely high requirements for the tightness during the liquid loading and unloading process, and the automatic loading arm needs to accurately and safely complete the loading and unloading operations. The operator starts the visual positioning system of the automatic loading arm. The camera quickly captures the image information of the target tank mouth and processes it through the visual module. Using algorithms such as edge detection, feature extraction, and shape matching, accurately identify the tank mouth and calculate the coordinates of the tank mouth as: (x1 = 10, y1 = 8, z1 = 3), unit: meter. According to the design parameters of the storage tank and the technological requirements of this loading and unloading operation, the operator gives the height h1 = 1 meter of the vertical pipe above the tank mouth. The initial position of the loading arm movement is (10, 8, 3 + 1) = (10, 8, 4) meters. At the same time, give the height h2 = 2 meters of the vertical pipe inserted into the tank mouth. The target position of the loading arm movement is (10, 8, 3 - 2) = (10, 8, 1) meters. The straight-line insertion distance of the loading arm is h1 + h2 = 1 + 2 = 3 meters. Considering the operation accuracy requirements and the risk of easy touching due to the small tank mouth, the operator selects N = 150 according to the actual situation, that is, take a point every 3 ÷ 150 = 0.02 meters. The coordinates of each point are calculated segment by segment based on the distance interpolated from the straight line. The coordinates of the first point are (10, 8, 4 − 0.02) = (10, 8, 3.98) meters, the coordinates of the second point are (10, 8, 4 − 0.02A ~ 2) = (10, 8, 3.96) meters, and so on, until the coordinates of the 149th point are (10, 8, 4 − 0.02A ~ 149) = (10, 8, 1.02) meters. Given the base height of the robotic arm L0 = 0.5 meters, the inner arm length L1 = 3 meters, the outer arm length L2 = 2 meters, the vertical tube length L3 = 1.5 meters, and the wrist length L4 = 0.3 meters, for the first point coordinates (10, 8, 3.98), calculate the rotation angle of the robotic arm according to the formula: i 11 ， i 12 ， i 13 . And so on, calculate the rotation angle of the robot arm corresponding to all 150 points. Known that the number of teeth of the driver n = 50, the accuracy of the encoder t = 1000 pulses / revolution, and the initial encoder value b1 = 0. For the rotation angle corresponding to the first point i 11 ， i 12 ， i 13 Calculate the corresponding driver encoder value according to the formula: e 11 ， e 12 ， e 13 In the same way, calculate the encoder values corresponding to all points. Store the encoder values corresponding to each robot arm at the 150 interpolation points calculated in an array of NA to 3.

[0076] In some embodiments, the control module begins traversing an N-dimensional array, with the count of the currently executed point Cur = 0. A timer T1 is set for each axis, and the maximum motion time for each axis is set to t = 0.5 seconds. When Cur < 150, timer T1 is started. When timer T1 is less than t, the three axes of the robot arm execute motions according to the corresponding encoder values. For example, when processing the first point, the inner arm driver drives the inner arm to rotate according to e11, the outer arm driver drives the outer arm to rotate according to e12, and the vertical tube driver drives the vertical tube according to e13. When all three axes have completed motion, a unified motion completion flag is set, timer T1 is reset, and the value of Cur is incremented by 1. If the motion is not complete when timer T1 is greater than t, the current motion is terminated and the motion of the next point is executed directly, and the value of Cur is incremented by 1. This loop traverses each point. When Cura ≥ 150, the entire vertical tube linear downward insertion motion is completed. At this point, the vertical pipe is accurately inserted into the target position and the liquid loading and unloading operation begins. Due to the use of the linear insertion method and the coordinated motion execution strategy, the problem of the vertical pipe touching the tank mouth during the descent is successfully avoided, ensuring the smooth progress of the loading and unloading operation and the sealing requirements.

[0077] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0078] The following is an embodiment of the automatic crane pipe linear insertion system provided in the embodiments of the present disclosure. This system and the automatic crane pipe linear insertion methods of the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiments of the automatic crane pipe linear insertion system, please refer to the embodiments of the above-mentioned automatic crane pipe linear insertion method.

[0079] The system includes: a visual positioning and analysis module, multiple automatic cranes, and a control module; the robotic arm of the automatic crane includes: an inner arm, an outer arm, and a drop tube; the first end of the outer arm is rotatably connected to one end of the drop tube; the second end of the outer arm is rotatably connected to the first end of the inner arm, and the second end of the inner arm is connected to the frame; the inner arm, outer arm, and drop tube are each connected to a driver that drives their movement; The visual positioning and analysis module identifies the tank opening corresponding to the interpolation and analyzes the coordinates of the tank opening; obtains the initial position, target position, and number of interpolated points of the linear interpolation; analyzes the coordinates of each point based on the number of interpolated points; calculates the rotation angle of the robot arm corresponding to each point based on the coordinates of each point; and calculates the encoder value of the driver based on the robot arm rotation angle corresponding to each point; The control module controls the driver according to the encoder value, drives the robotic arm to move to the corresponding insertion point, and performs the insertion operation.

[0080] like Figure 4As shown, the present application also provides an electronic device, including a display module 103, a memory 102, a processor 101 and a computer program stored in the memory and executable on the processor 101, wherein the processor 101 implements the steps of the automatic crane pipe linear insertion method when executing the program.

[0081] In the embodiments of the present invention, electronic devices include, but are not limited to, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the present application described and / or claimed herein.

[0082] In the embodiment of the present application, the processor 101 can be implemented by using at least one of an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein. In some cases, such an embodiment can be implemented in a controller. For software implementation, an embodiment such as a process or function can be implemented with a separate software module that allows the execution of at least one function or operation. The software code can be implemented by a software application (or program) written in any appropriate programming language, and the software code can be stored in a memory and executed by a controller.

[0083] The display module 103 is used to display information input by the user or information provided to the user. The display module 103 may include a display panel, which may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc.

[0084] The memory 102 can be used to store software programs and various data. The memory 102 can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0085] The present application also provides a storage medium having a computer program stored thereon, which implements the steps of the automatic crane pipe linear insertion method when the computer program is executed by a processor.

[0086] The storage medium can be any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0087] In the context of storage media, a readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0088] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic crane pipe linear insertion method, characterized in that: The robotic arm of the automatic loading arm includes: an inner arm, an outer arm, and a vertical pipe; the first end of the outer arm is rotatably connected to one end of the vertical pipe; the second end of the outer arm is rotatably connected to the first end of the inner arm, and the second end of the inner arm is connected to the frame; the inner arm, the outer arm, and the vertical pipe are respectively connected with drivers for driving their movement; The method includes: Identifying the corresponding tank opening for insertion and parsing the coordinates of the tank opening; Learning the initial position, target position of the linear insertion, and the number of insertion points; Parsing the coordinates of each point according to the number of insertion points; Calculating the rotation angle of the robotic arm corresponding to each point based on the coordinates of each point; Calculating the encoder value of the driver according to the rotation angle of the robotic arm corresponding to each point; Controlling the driver according to the encoder value to drive the robotic arm to move to the corresponding insertion point and perform the insertion operation.

2. The method for linear insertion of the automatic loading arm according to claim 1, wherein In the method, the tank opening is identified by the vision positioning module and the coordinates (x1, y1, z1) of the tank opening are calculated; Obtaining the height h1 of the vertical pipe above the tank opening, and the initial position of the loading arm movement is (x1, y1, z1 + h1); Obtaining the height h2 of the given vertical pipe inserted into the tank opening, and the target position of the loading arm movement is (x1, y1, z1 - h2); The distance of the linear insertion of the loading arm is h1 + h2, and the linear insertion distance is divided into N segments, and the movement distance of each segment is p = (h1 + h2) / N. The linear insertion movement includes N points, and the coordinates of each point are: 。 3. The method for linear insertion of the automatic loading arm according to claim 1, wherein In the method, the rotation angle of the robotic arm movement is converted according to the coordinates of each point of the linear insertion through the following formula: Where: θ 1. θ 2. θ 3 corresponds to the rotation angle of the inner arm, outer arm, and vertical tube, ( x , y , z ) is the coordinate of each point interpolated under the target straight line, L 0. L 1. L 2. L 3. L 4 are the base height, inner arm length, outer arm length, vertical tube length, and wrist length of the robot arm.

4. The method for linear insertion of the automatic loading arm according to claim 3, wherein In the method, the rotation angle of the robotic arm corresponding to each point of the linear insertion is calculated through the following formula: 。 5. The method for linear insertion of the automatic loading arm according to claim 1, wherein Converting the rotation angle of each insertion point into the encoder value of the corresponding driver according to the following formula: Where: e i For the i The encoder value corresponding to the joint, θ i is the rotation angle of each robot arm, n is the number of teeth of the driver, t is the accuracy of the encoder, b i Initial encoder value.

6. The method for linear insertion of the automatic loading arm according to claim 5, wherein The encoder value of the robotic arm driver corresponding to each point of the linear insertion is calculated through the following formula: Sending the encoder values corresponding to each robotic arm of each linear insertion point to the control module, and the control module controls the driver according to the encoder value to drive the robotic arm to move to the corresponding position.

7. The method for linear insertion of the automatic loading arm according to claim 1 or 2, wherein In the method, the movement execution strategy for the vertical pipe to insert N points is set, which specifically includes the following steps: Storing the encoder values corresponding to the three axes of N insertion points in an N*3 array Array; Traversing the N-dimensional array, each time taking out the three encoder values of a point, the count of the currently executed point is Cur, with an initial value of 0, and a timer T1 is set for each axis, and the longest movement time for each axis is t; When Cur < N, start the timer. When T1 < t, the three axes of the robotic arm perform movement actions respectively, and set the movement completion flag after the execution is completed; After the robot arm completes the movement, the movement completion flag is set, timer T1 is reset, and the value of Cur is increased by 1; When T1>t, terminate the current motion and execute the motion of the next point, and the value of Cur increases by 1; Loop through each point, and when Cur ≥ N, end the entire execution process.

8. An automatic crane pipe linear insertion system, characterized in that: The system is used to implement the automatic crane pipe linear insertion method according to any one of claims 1 to 7; The system includes: a visual positioning and analysis module, multiple automatic cranes, and a control module; the robotic arm of the automatic crane includes: an inner arm, an outer arm, and a drop tube; the first end of the outer arm is rotatably connected to one end of the drop tube; the second end of the outer arm is rotatably connected to the first end of the inner arm, and the second end of the inner arm is connected to the frame; the inner arm, outer arm, and drop tube are each connected to a driver that drives their movement; The visual positioning and analysis module identifies the tank opening corresponding to the interpolation and analyzes the coordinates of the tank opening; obtains the initial position, target position, and number of interpolated points of the linear interpolation; analyzes the coordinates of each point based on the number of interpolated points; calculates the rotation angle of the robot arm corresponding to each point based on the coordinates of each point; and calculates the encoder value of the driver based on the robot arm rotation angle corresponding to each point; The control module controls the driver according to the encoder value, drives the robotic arm to move to the corresponding insertion point, and performs the insertion operation.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the automatic crane linear insertion method according to any one of claims 1 to 7 are implemented.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the automatic crane linear insertion method according to any one of claims 1 to 7 are implemented.

Images