Negative plate self-adaptive positioning and automatic lifting device and method based on visual algorithm

Abstract

The invention discloses a cathode plate self-adaptive positioning and automatic lifting device and method.The cathode plate self-adaptive positioning and automatic lifting device based on the visual algorithm comprises a main body frame, a lifting assembly, a pole plate gripper, a shooting assembly, a walking assembly, an industrial camera and a controller, and the lifting assembly comprises a lifting motor; the walking assembly comprises a front walking motor and a rear walking motor. A controller is in wireless connection with a lifting motor, a front walking motor, a rear walking motor, a pole plate gripper, an industrial camera and a background, and the front walking motor and the rear walking motor can be controlled to operate to drive the pole plate gripper to move in the front-back direction according to information transmitted by the background; and the lifting motor can be controlled to operate to drive the polar plate gripper to move in the direction perpendicular to the ground, so that the polar plate gripper is driven to be automatically positioned to the position over the abnormal polar plate and extract the abnormal polar plate, the operation difficulty of plate lifting can be reduced, the environmental safety can be improved, and the working efficiency of plate lifting can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of copper smelting plate transportation, and more specifically, to a cathode plate adaptive positioning and automatic lifting device and method based on a visual algorithm. Background Art

[0002] During copper electrolysis, various nodules or particles can form on the cathode plate surface due to factors such as the concentration of electrolyte additives and current density. These nodules or particles can cause the cathode and anode plates in the electrolytic cell to come too close together, leading to a short circuit and significantly impacting production efficiency. Therefore, it is necessary to remove the plate with nodules or particles and replace the cathode plate.

[0003] In the prior art, cathode plates with nodules or particles are clamped and lifted by manually driven gantry cranes, or by plate-lifting rail cars. Horizontal and vertical rails are arranged around the electrolytic cell, and the plate-lifting rail cars move along the rails above the electrolytic cell. When the plate-lifting rail cars move to the designated position, they lift the faulty plates in the electrolytic cell for processing and replacement. However, whether it is a manually driven gantry crane or a plate-lifting rail car, it is inevitable that the plate-lifting equipment needs to be manually positioned and driven to move. In addition, manual operation and positioning of the plate-lifting equipment are too complicated, and workers need to operate slowly for precise positioning. Workers and on-site equipment work at the same time, which poses a great safety hazard on site and is extremely detrimental to the environment and safety. Therefore, the research on safe, accurate, and highly automated cathode plate replacement technology is of great significance.

[0004] The Chinese patent application document (application number: 202120776394.5, application date: 2021.04.15) discloses an efficient gripping device for castings, wherein a frame is the main component, four legs are provided at the bottom of the frame, wheel frames are provided at the bottom of the legs, walking wheels are provided on the two front wheel frames, and universal wheels are provided on the two rear wheel frames. A walking mechanism for driving the walking wheels to rotate is provided on the two front legs. The walking mechanism includes a pair of upper and lower sprockets rotatably mounted on the legs, a chain arranged between the two sprockets, a walking motor fixed on the upper side of the legs for driving the upper sprocket to rotate, and the lower sprocket is coaxially arranged with the walking wheel. When the walking motor is in operation, the rotation of the walking wheel can be driven by a chain transmission mechanism composed of a sprocket and a chain. A gripping unit is provided in the middle of the frame. The gripping unit includes a lifting block that is connected to the frame for sliding up and down movement, a lifting mechanism that drives the lifting block to move up and down in the vertical direction, a chuck fixed to the bottom of the lifting block, and a number of grippers provided on the chuck. A lead screw is rotatably mounted on the frame through a bearing seat, and the lead screw is engaged with the thread of the lifting block. The lower end of the lead screw extends into the inner side of the lifting block, a driven bevel gear is fixed to the top of the lead screw, a lifting motor is fixed to the frame, and an active bevel gear is fixed to the output end of the lifting motor, and the active bevel gear is meshed with the driven bevel gear. The lifting motor, active bevel gear, driven bevel gear, and lead screw constitute the lifting mechanism that drives the lifting block to move up and down. This gripping device can provide inspiration for automated gripping of plates, but it still cannot achieve automated positioning of the gripping unit.

[0005] Therefore, the present invention provides a cathode plate adaptive positioning and automatic lifting device and method based on visual algorithm. Summary of the Invention

[0006] In view of this, the present invention provides a cathode plate adaptive positioning and automatic lifting device and method based on a visual algorithm.

[0007] On the one hand, the present invention provides a cathode plate adaptive positioning and automatic lifting device based on a visual algorithm, comprising: a main frame, a lifting component, a plate gripper, a shooting component, a walking component and a controller;

[0008] The main frame includes a top plate and a rectangular frame located on a side of the top plate close to the ground, the top plate and the rectangular frame are parallel to the ground, the rectangular frame includes a left frame, a rear frame, a right frame and a front frame connected in sequence end to end, the left frame and the right frame are arranged opposite to each other along the left-right direction, and the rear frame and the front frame are arranged opposite to each other along the front-back direction; the main frame also includes two left support columns extending in a direction perpendicular to the ground and two right support columns extending in the direction perpendicular to the ground, one end of the left support column is connected to the top plate, and the other end is connected to the left frame, one end of the right support column is connected to the top plate, and the other end is connected to the right frame, the left and right directions, the front and back directions and the direction perpendicular to the ground are perpendicular to each other;

[0009] The lifting assembly includes a lifting motor and a bearing seat, the lifting motor is fixed to the side of the top plate away from the ground, and the bearing seat is fixed to the side of the left frame close to the ground or the side of the right frame close to the ground; the lifting assembly also includes a movable plate parallel to the ground, the movable plate is located between the top plate and the rectangular frame, between the two left support columns, and between the two right support columns, and the movable plate includes a threaded hole; the lifting assembly also includes at least two lead screws extending in the direction perpendicular to the ground, the lead screws pass through the top plate, the threaded hole and the rectangular frame, and the lead screws are threadedly connected to the threaded holes passed through by them, at least one end of the lead screws is connected to the lifting motor, and the other end is connected to the bearing seat fixed to the side of the left frame close to the ground, and at least one end of the lead screws is connected to the lifting motor, and the other end is connected to the bearing seat fixed to the side of the right frame close to the ground;

[0010] The plate gripper is fixed to the side of the movable plate close to the ground, and is located between the left support column and the right support column along the left-right direction;

[0011] The shooting assembly includes at least one fixed rod, the two ends of at least one fixed rod are respectively connected to the two left support columns, and / or the two ends of at least one fixed rod are respectively connected to the two right support columns, and along the direction perpendicular to the ground, the fixed rod and the movable plate do not overlap; the shooting assembly also includes an industrial camera, which is arranged corresponding to the fixed rod and fixed to the side of the corresponding fixed rod away from the movable plate;

[0012] The walking assembly includes two front walking motors and two rear walking motors, the two front walking motors are connected to the front frame, the two rear walking motors are connected to the rear frame, the front walking motors are connected to the front walking wheels respectively, and the rear walking motors are connected to the rear walking wheels respectively, along the left and right directions, the rectangular frame is located between the two front walking wheels, along the front and back directions, the two front walking wheels and the two rear walking wheels overlap, and along the direction perpendicular to the ground, the minimum distances from the two front walking wheels to the ground are equal;

[0013] The controller is connected to the main frame. Along the front-to-back direction, the controller is located on one side of the main frame. Along the direction perpendicular to the ground, the controller is located on the side of the front walking wheel away from the ground. There is a gap between the controller and the front walking wheel. The controller is respectively wirelessly connected to the lifting motor, the front walking motor, the rear walking motor, the pole plate gripper, the industrial camera and the background. The controller is equipped with a trained YOLOV5 model.

[0014] Optionally, the lifting assembly further includes a gearbox and a coupling, and the gearbox, the coupling, the lifting motor and the lead screw correspond one to one;

[0015] One end of the coupling is connected to the corresponding lifting motor, and the other end is connected to the corresponding gearbox. The gearbox is fixed to the side of the top plate away from the ground, and the gearbox is connected to one end of the corresponding lead screw.

[0016] Optionally, the movable plate includes a through hole, a ball nut is fixed in the through hole, and the ball nut includes the threaded hole.

[0017] Optionally, the controller includes a power supply unit, a main control unit and a communication unit;

[0018] The power supply unit is coupled to the main control unit and the communication unit respectively, and is used to provide power to the main control unit and the communication unit;

[0019] The main control unit is equipped with a trained YOLOV5 model. The main control unit is coupled to the power supply unit and the communication unit respectively, and is used to receive information transmitted by the communication unit, generate a control signal according to the information transmitted by the communication unit, and transmit the control signal to the communication unit;

[0020] The communication unit is coupled to the power supply unit, the main control unit, the lifting motor, the front travel motor, the rear travel motor, the plate gripper, the industrial camera and the background, respectively, and is used to realize information interaction between the main control unit and the lifting motor, the front travel motor, the rear travel motor, the plate gripper, the industrial camera and the background, respectively.

[0021] Optionally, the controller further includes: a storage unit;

[0022] The storage unit is coupled to the power supply unit and the main control unit respectively, and is used to store data for the main control unit to retrieve.

[0023] On the other hand, the present invention also provides a method for self-adaptive positioning and automatic lifting of cathode plates based on a visual algorithm, which is applied to any of the above-mentioned devices for self-adaptive positioning and automatic lifting of cathode plates based on a visual algorithm, comprising:

[0024] S101: When the background monitoring detects the presence of an abnormal plate, the position of the abnormal plate is transmitted to the controller;

[0025] S102: When the controller receives the position of the abnormal plate transmitted from the background, the controller uses the position of the abnormal plate as the target position;

[0026] S103: The controller controls the front travel motor and the rear travel motor to operate according to the target position to drive the plate gripper to move;

[0027] S104: When the front travel motor and the rear travel motor stop running, the controller obtains the real-time video stream of the industrial camera, the controller stores the label data corresponding to the abnormal plate, and the controller is equipped with a trained YOLOV5 model. The controller determines whether the movement is accurate based on the real-time video stream, the trained YOLOV5 model, and the label data corresponding to the abnormal plate;

[0028] S1041: If the movement is determined to be accurate, the controller controls the lifting motor to drive the plate gripper to move in a direction perpendicular to the ground, and then controls the plate gripper to grab the abnormal plate.

[0029] Optionally, the controller determines whether the movement is accurate based on the real-time video stream, the trained YOLOV5 model, and the label data corresponding to the abnormal plate, including:

[0030] The controller inputs the real-time video stream into the trained YOLOV5 model, the trained YOLOV5 model outputs label bounding box data, and the controller determines whether the label bounding box data is the same as the label data corresponding to the abnormal plate;

[0031] If they are the same, the movement is judged to be correct;

[0032] If they are different, the movement is judged to be inaccurate.

[0033] Optionally, the controller determines whether the movement is accurate based on the real-time video stream, the trained YOLOV5 model and the label data corresponding to the abnormal plate, and further includes:

[0034] S1042: If the movement is determined to be inaccurate, the controller calculates the error distance between the current position and the position of the abnormal plate based on the distance difference between the label boundary box data and the label data corresponding to the abnormal plate and the focal length of the industrial camera, corrects the target position based on the position of the abnormal plate and the error distance, and executes steps S103 to S104.

[0035] Optionally, the controller controls the front travel motor and the rear travel motor to operate according to the target position to drive the plate gripper to move, including:

[0036] The controller selects a calculation motor from the front travel motor and the rear travel motor;

[0037] Calculating the position loop control output using a PID algorithm according to the target position and the encoder information of the calculation motor;

[0038] The position loop control output is used as the speed loop input, and the speed loop output is calculated using a PID algorithm based on the speed loop input and the encoder information of the calculation motor. The speed loop output is converted into a drive signal and transmitted to the front travel motor and the rear travel motor in real time.

[0039] Optionally, the PID algorithm is calculated in the following manner:

[0040]

[0041] Among them, u(t) is the output, e(t) is the deviation, K p is the proportional adjustment parameter, T i Time parameter of integral regulation, T d It is the time parameter of differential adjustment.

[0042] Compared with the prior art, the cathode plate adaptive positioning and automatic lifting device and method based on visual algorithms provided by the present invention achieve at least the following beneficial effects:

[0043] 1. In the cathode plate adaptive positioning and automatic lifting device and method based on visual algorithm provided by the present invention, the controller is respectively connected to the lifting motor, front travel motor, rear travel motor, plate gripper, industrial camera and background wireless connection. According to the information transmitted by the background, the front travel motor and the rear travel motor can be controlled to drive the plate gripper to move in the front and back directions. The lifting motor can also be controlled to drive the plate gripper to move in the direction perpendicular to the ground, thereby realizing the automatic positioning of the plate gripper to the top of the abnormal plate and extracting the abnormal plate. It can reduce the difficulty of lifting the plate, improve environmental safety, and speed up the efficiency of lifting the plate.

[0044] 2. In the cathode plate adaptive positioning and automatic lifting device and method based on visual algorithm provided by the present invention, the controller is equipped with a trained YOLOV5 model, which can introduce artificial intelligence technology into cathode plate positioning and lifting, and automatically position the plate gripper to the position of the abnormal plate, thereby helping the plate gripper to grab the abnormal plate, reducing manual participation in positioning, and avoiding safety hazards.

[0045] Of course, any product implementing the present invention does not necessarily need to achieve all of the technical effects described above at the same time.

[0046] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0048] Figure 1 This is a structural schematic diagram of the cathode plate adaptive positioning and automatic lifting device based on visual algorithm provided by the present invention.

[0049] Figure 2 It is a structural diagram of the controller.

[0050] Figure 3 The present invention provides a flow chart of a cathode plate adaptive positioning and automatic lifting method based on a visual algorithm.

[0051] In the figure: 1. Main frame; 2. Lifting assembly; 3. Plate gripper; 4. Shooting assembly; 5. Travel assembly; 6. Controller; 7. Top plate; 8. Rectangular frame; 9. Left frame; 10. Rear frame; 11. Right frame; 12. Front frame; 13. Left support column; 14. Right support column; 15. Lifting motor; 16. Bearing seat; 17. Moving plate; 18. Lead screw; 19. Fixed rod; 20. Industrial camera; 21. Front travel motor; 22. Front travel wheel; 23. Rear travel wheel; 24. Power supply unit; 25. Main control unit; 26. Communication unit; 27. Storage unit; 28. Gearbox; 29. ​​Coupling; X, left and right direction; Y, front and back direction; Z, direction perpendicular to the ground. DETAILED DESCRIPTION

[0052] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0053] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0054] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0055] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0056] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0057] Example 1

[0058] Reference Figure 1 , Figure 1 The present invention provides a schematic structural diagram of a cathode plate adaptive positioning and automatic lifting device based on a visual algorithm, illustrating a specific embodiment of the cathode plate adaptive positioning and automatic lifting device based on a visual algorithm provided by the present invention, comprising: a main frame 1, a lifting component 2, a plate gripper 3, a camera component 4, a walking component 5, and a controller 6;

[0059] The main frame 1 includes a top plate 7 and a rectangular frame 8 located on the side of the top plate 7 close to the ground. The top plate 7 and the rectangular frame 8 are parallel to the ground. The rectangular frame 8 includes a left frame 9, a rear frame 10, a right frame 11 and a front frame 12 connected in sequence end to end. The left frame 9 and the right frame 11 are arranged opposite to each other along the left-right direction X, and the rear frame 10 and the front frame 12 are arranged opposite to each other along the front-back direction Y. The main frame 1 also includes two left support columns 13 extending in a direction Z perpendicular to the ground and two right support columns 14 extending in the direction Z perpendicular to the ground. One end of the left support column 13 is connected to the top plate 7 and the other end is connected to the left frame 9. One end of the right support column 14 is connected to the top plate 7 and the other end is connected to the right frame 11. The left-right direction X, the front-back direction Y and the direction Z perpendicular to the ground are perpendicular to each other.

[0060] The lifting assembly 2 includes a lifting motor 15 and a bearing seat 16. The lifting motor 15 is fixed to the side of the top plate 7 away from the ground, and the bearing seat 16 is fixed to the side of the left frame 9 close to the ground or fixed to the side of the right frame 11 close to the ground; the lifting assembly 2 also includes a movable plate 17 parallel to the ground, the movable plate 17 is located between the top plate 7 and the rectangular frame 8, between the two left support columns 13, and between the two right support columns 14, and the movable plate 17 includes a threaded hole; the lifting assembly 2 also includes at least two lead screws 18 extending in a direction Z perpendicular to the ground, the lead screws 18 pass through the top plate 7, the threaded hole and the rectangular frame 8, and the lead screws 18 are threadedly connected to the threaded holes passed through them, at least one end of the lead screw 18 is connected to the lifting motor 15, and the other end is connected to the bearing seat 16 fixed to the side of the left frame 9 close to the ground, at least one end of the lead screw 18 is connected to the lifting motor 15, and the other end is connected to the bearing seat 16 fixed to the side of the right frame 11 close to the ground;

[0061] The plate gripper 3 is fixed to the side of the movable plate 17 close to the ground. Along the left-right direction X, the plate gripper 3 is located between the left support column 13 and the right support column 14;

[0062] The photographing assembly 4 includes at least one fixed rod 19, with both ends of the at least one fixed rod 19 respectively connected to the two left support columns 13, and / or, the two ends of the at least one fixed rod 19 respectively connected to the two right support columns 14, and along the direction Z perpendicular to the ground, the fixed rod 19 and the movable plate 17 do not overlap; the photographing assembly 4 also includes an industrial camera 20, which is arranged corresponding to the fixed rod 19 and is fixed to the side of the corresponding fixed rod 19 away from the movable plate 17;

[0063] The travel assembly 5 includes two front travel motors 21 and two rear travel motors. The two front travel motors 21 are connected to the front frame 12, and the two rear travel motors are connected to the rear frame 10. The front travel motors 21 are connected to the front travel wheels 22, and the rear travel motors are connected to the rear travel wheels 23. In the left-right direction X, the rectangular frame 8 is located between the two front travel wheels 22. In the front-to-back direction Y, the two front travel wheels 22 and the two rear travel wheels 23 overlap. In the direction Z perpendicular to the ground, the minimum distance between the two front travel wheels 22 and the ground is equal.

[0064] The controller is connected to the main frame 1. Along the front-to-back direction Y, the controller is located on one side of the main frame 1. Along the direction Z perpendicular to the ground, the controller is located on the side of the front walking wheel 22 away from the ground. There is a gap between the controller and the front walking wheel 22. The controller is wirelessly connected to the lifting motor 15, the front walking motor 21, the rear walking motor, the pole plate gripper 3, the industrial camera 20 and the background respectively. The controller is equipped with a trained YOLOV5 model.

[0065] It should be noted that for the sake of convenience, Figure 1 The controller and rear travel motor are not shown. The cathode plate is located inside the electrolytic cell, and a track is laid above the electrolytic cell. The front travel wheel 22 and the rear travel wheel 23 are both in contact with the track. The front travel motor 21 is connected to the front travel wheel 22 via a front coupling, and the rear travel motor is connected to the rear travel wheel 23 via a rear coupling. When the front travel motor 21 and the rear travel motor are running simultaneously, they drive the front travel wheel 22 and the rear travel wheel 23 to rotate simultaneously. The front travel wheel 22 and the rear travel wheel 23 have the same direction and speed, so that the cathode plate adaptive positioning and automatic lifting device based on the visual algorithm provided in this embodiment can move stably along the track. Along the left-right direction X, the rectangular frame 8 is located between the two front running wheels 22, and along the front-back direction Y, the two front running wheels 22 and the two rear running wheels 23 overlap, that is, along the left-right direction X, the rectangular frame 8 is located between the two tracks, and the rectangular frame 8 will not prevent the front running wheels 22 and the rear running wheels 23 from contacting the tracks. Even along the direction Z perpendicular to the ground, the minimum distance from the rectangular frame 8 to the ground is less than the minimum distance from the front running wheels 22 to the ground, so that the main frame 1 is partially sandwiched between the two tracks, which helps to further limit the cathode plate adaptive positioning and automatic lifting device based on the visual algorithm provided in this embodiment to move stably along the track. Similarly, when the lifting motor 15 is running, the direction and speed of all the screws 18 are the same, ensuring that the movable plate 17 moves smoothly along the direction Z perpendicular to the ground.

[0066] It is understandable that the controller is wirelessly connected to the lifting motor 15, the front travel motor 21, the rear travel motor, the plate gripper 3, the industrial camera 20 and the background, which can be a 4G communication connection or a CAN communication connection. Of course, it is not limited to this and can be set according to actual needs. The controller is wirelessly connected to the lifting motor 15, the front travel motor 21, the rear travel motor, the plate gripper 3, the industrial camera 20 and the background, and can control the front travel motor 21 and the rear travel motor to drive the plate gripper 3 to move along the front-to-back direction Y according to the information transmitted by the background. It can also control the lifting motor 15 to drive the plate gripper 3 to move in the direction Z perpendicular to the ground, thereby driving the plate gripper 3 to move directly above the abnormal plate and extracting the abnormal plate, which can reduce the difficulty of lifting the plate, improve environmental safety, and speed up the efficiency of lifting the plate. The controller is equipped with a trained YOLOV5 model, which can introduce artificial intelligence technology to improve cathode plate positioning, and automatically position the plate gripper 3 to the position of the abnormal plate, thereby helping the plate gripper 3 to grab the abnormal plate, reducing manual participation in positioning, and avoiding safety hazards.

[0067] Example 2

[0068] Continue to refer to Figure 1 and Figure 2 , Figure 2 1 is a schematic diagram of the structure of a controller, illustrating another specific embodiment of the cathode plate adaptive positioning and automatic lifting device based on a visual algorithm provided by the present invention, comprising: a main frame 1, a lifting component 2, a plate gripper 3, a shooting component 4, a walking component 5, and a controller 6;

[0069] The main frame 1 includes a top plate 7 and a rectangular frame 8 located on the side of the top plate 7 close to the ground. The top plate 7 and the rectangular frame 8 are parallel to the ground. The rectangular frame 8 includes a left frame 9, a rear frame 10, a right frame 11 and a front frame 12 connected in sequence end to end. The left frame 9 and the right frame 11 are arranged opposite to each other along the left-right direction X, and the rear frame 10 and the front frame 12 are arranged opposite to each other along the front-back direction Y. The main frame 1 also includes two left support columns 13 extending in a direction Z perpendicular to the ground and two right support columns 14 extending in the direction Z perpendicular to the ground. One end of the left support column 13 is connected to the top plate 7 and the other end is connected to the left frame 9. One end of the right support column 14 is connected to the top plate 7 and the other end is connected to the right frame 11. The left-right direction X, the front-back direction Y and the direction Z perpendicular to the ground are perpendicular to each other.

[0070] The lifting assembly 2 includes a lifting motor 15 and a bearing seat 16. The lifting motor 15 is fixed to the side of the top plate 7 away from the ground, and the bearing seat 16 is fixed to the side of the left frame 9 close to the ground or fixed to the side of the right frame 11 close to the ground; the lifting assembly 2 also includes a movable plate 17 parallel to the ground, the movable plate 17 is located between the top plate 7 and the rectangular frame 8, between the two left support columns 13, and between the two right support columns 14, and the movable plate 17 includes a threaded hole; the lifting assembly 2 also includes at least two lead screws 18 extending in a direction Z perpendicular to the ground, the lead screws 18 pass through the top plate 7, the threaded hole and the rectangular frame 8, and the lead screws 18 are threadedly connected to the threaded holes passed through them, at least one end of the lead screw 18 is connected to the lifting motor 15, and the other end is connected to the bearing seat 16 fixed to the side of the left frame 9 close to the ground, at least one end of the lead screw 18 is connected to the lifting motor 15, and the other end is connected to the bearing seat 16 fixed to the side of the right frame 11 close to the ground;

[0071] The plate gripper 3 is fixed to the side of the movable plate 17 close to the ground. Along the left-right direction X, the plate gripper 3 is located between the left support column 13 and the right support column 14;

[0072] The photographing assembly 4 includes at least one fixed rod 19, with both ends of the at least one fixed rod 19 respectively connected to the two left support columns 13, and / or, the two ends of the at least one fixed rod 19 respectively connected to the two right support columns 14, and along the direction Z perpendicular to the ground, the fixed rod 19 and the movable plate 17 do not overlap; the photographing assembly 4 also includes an industrial camera 20, which is arranged corresponding to the fixed rod 19 and is fixed to the side of the corresponding fixed rod 19 away from the movable plate 17;

[0073] The travel assembly 5 includes two front travel motors 21 and two rear travel motors. The two front travel motors 21 are connected to the front frame 12, and the two rear travel motors are connected to the rear frame 10. The front travel motors 21 are connected to the front travel wheels 22, and the rear travel motors are connected to the rear travel wheels 23. In the left-right direction X, the rectangular frame 8 is located between the two front travel wheels 22. In the front-to-back direction Y, the two front travel wheels 22 and the two rear travel wheels 23 overlap. In the direction Z perpendicular to the ground, the minimum distance between the two front travel wheels 22 and the ground is equal.

[0074] The controller 6 is connected to the main frame 1. Along the front-to-back direction Y, the controller 6 is located on one side of the main frame 1. Along the direction Z perpendicular to the ground, the controller 6 is located on the side of the front walking wheel 22 away from the ground. There is a gap between the controller 6 and the front walking wheel 22. The controller 6 is wirelessly connected to the lifting motor 15, the front walking motor 21, the rear walking motor, the pole plate gripper 3, the industrial camera 20 and the background respectively. The controller 6 is equipped with a trained YOLOV5 model.

[0075] The lifting assembly 2 further includes a gearbox 28 and a coupling 29, and the gearbox 28, the coupling 29, the lifting motor 15 and the lead screw 18 correspond one to one;

[0076] One end of the coupling 29 is connected to the corresponding lifting motor 15 , and the other end is connected to the corresponding gearbox 28 . The gearbox 28 is fixed to the side of the top plate 7 away from the ground, and the gearbox 28 is connected to one end of the corresponding lead screw 18 .

[0077] The movable plate 17 includes a through hole, a ball nut is fixed in the through hole, and the ball nut includes a threaded hole.

[0078] The controller 6 includes a power supply unit 24, a main control unit 25 and a communication unit 26;

[0079] a power supply unit 24, coupled to the main control unit 25 and the communication unit 26, respectively, for providing power to the main control unit 25 and the communication unit 26;

[0080] The main control unit 25 is equipped with a trained YOLOV5 model. The main control unit 25 is coupled to the power supply unit 24 and the communication unit 26 respectively, and is used to receive information transmitted by the communication unit 26, generate a control signal based on the information transmitted by the communication unit 26, and transmit the control signal to the communication unit 26;

[0081] The communication unit 26 is coupled to the power supply unit 24, the main control unit 25, the lifting motor 15, the front travel motor 21, the rear travel motor, the plate gripper 3, the industrial camera 20 and the background, respectively, and is used to realize information interaction between the main control unit 25 and the lifting motor 15, the front travel motor 21, the rear travel motor, the plate gripper 3, the industrial camera 20 and the background.

[0082] The controller 6 further includes: a storage unit 27;

[0083] The storage unit 27 is coupled to the power supply unit 24 and the main control unit 25 respectively, and is used to store data for the main control unit 25 to retrieve.

[0084] It should be noted that after the pole plate gripper 3 moves to the position directly above the abnormal pole plate, the pole plate gripper 3 needs to move downward slowly, and a gearbox 28 needs to be provided between the lead screw 18 and the lifting motor 15 to reduce speed. The gearbox 28 and the lifting motor 15 cannot be directly connected, so a coupling 29 is provided to connect the gearbox 28 and the lifting motor 15. A through hole is provided in the movable plate 17, in which a ball nut is fixed. The ball nut includes a threaded hole, and the lead screw 18 is threadedly connected to the threaded hole. Compared with the lead screw 18 being directly threadedly connected to the threaded hole drilled in the movable plate 17, the ball movement of the ball nut can greatly reduce friction resistance, thereby greatly improving transmission efficiency and speed. Since the ball thread is made of metal, it is also wear-resistant, thereby improving the life of the entire device. In this embodiment, Figure 1 Only four lead screws 18 are used as an example, of course, it is not limited to this. For the sake of convenience, Figure 1 The ball nut is not shown. The main control unit 25 is a core unit, and its specific model is an STM32F405VGT6 chip with a 12M passive crystal oscillator. The power supply unit 24 adopts a multi-stage step-down power supply method, in which the MAX5035AASA chip is used to power the main control unit 25, and two ADP2442ACPZ-R7 chips are used to power other units. The communication unit 26 includes a CAN communication module and a 4G module, which are used for the main control unit 25 to communicate with the lifting motor 15, the front travel motor 21, the rear travel motor, the plate gripper 3, the industrial camera 20 and the background. The storage unit 27 uses an EEPROM chip of the GX2505D model as storage. Of course, this is not limited to this. The selection of the power supply unit 24, the main control unit 25, the communication unit 26 and the storage unit 27 can be selected according to actual needs, and this embodiment does not impose specific restrictions on this.

[0085] It can be understood that when the abnormal plate needs to be replaced, the abnormal plate adaptive positioning and automatic lifting device based on the visual algorithm can run to the top of the abnormal plate, and control the front travel motor 21 and the rear travel motor to move in the front and rear direction Y through the industrial camera 20 and the visual algorithm to complete the precise positioning; after completing the positioning, the lifting motor 15 drives the lead screw 18 to rotate after the speed regulation of the gearbox 28, thereby controlling the moving plate 17 to move in the direction Z perpendicular to the ground to move the plate gripper 3 to a preset height position, and the plate gripper 3 completes the grabbing of the abnormal plate; after completing the grabbing, the lifting motor 15 rotates in the opposite direction to complete the lifting of the plate gripper 3, and then the front travel motor 21 and the rear travel motor drive the front travel wheel 22 and the rear travel wheel 23 to drive the entire device away, which can reduce the difficulty of lifting the plate, improve environmental safety, and speed up the efficiency of lifting the plate. The controller 6 is equipped with a trained YOLOV5 model, which can introduce artificial intelligence technology to improve the positioning of abnormal plates, and automatically position the plate gripper 3 to the position of the abnormal plate, thereby helping the plate gripper 3 to grab the abnormal plate, reducing manual participation in positioning, and avoiding safety hazards.

[0086] Example 3

[0087] Reference Figure 3 , Figure 3 The present invention provides a flow chart of a method for adaptively positioning and automatically lifting a cathode plate based on a visual algorithm, which is used to illustrate a specific embodiment of the method for adaptively positioning and automatically lifting a cathode plate based on a visual algorithm. The method is applied to a device for adaptively positioning and automatically lifting a cathode plate based on a visual algorithm in any one of the above embodiments, comprising:

[0088] S101: When the background monitoring detects the presence of an abnormal plate, the location of the abnormal plate is transmitted to the controller;

[0089] S102: When the controller receives the position of the abnormal plate transmitted from the background, the controller uses the position of the abnormal plate as the target position;

[0090] S103: The controller controls the front travel motor and the rear travel motor to operate according to the target position to drive the plate gripper to move;

[0091] S104: When the current travel motor and the rear travel motor stop running, the controller obtains a real-time video stream from the industrial camera. The controller stores label data corresponding to the abnormal plate and is equipped with a trained YOLOV5 model. The controller determines whether the movement is accurate based on the real-time video stream, the trained YOLOV5 model, and the label data corresponding to the abnormal plate.

[0092] S1041: If the movement is determined to be accurate, the controller controls the lifting motor to drive the plate gripper to move in a direction perpendicular to the ground, and then controls the plate gripper to grab the abnormal plate.

[0093] It is understood that the controller controls the operation of the front and rear travel motors according to the target position using a PID dual-loop control algorithm to drive the front and rear travel motors, thereby driving the entire device in the forward and backward directions. This helps improve the accuracy of the control device's movement. Combined with the lifting motor and the lead screw, the movable plate can be accurately controlled to move perpendicular to the ground, which can quickly, smoothly, and efficiently complete the task of extracting abnormal plates. Using an industrial camera to capture position information, the position of the abnormal plate is used as the positioning basis. In combination with the YOLOV5 convolutional neural network, accurate positioning can be achieved, thereby ensuring the reliability of accurate capture of abnormal plates.

[0094] Example 4

[0095] Continue to refer to Figure 3 , to illustrate another specific embodiment of the cathode plate adaptive positioning and automatic lifting method based on a visual algorithm provided by the present invention, which is applied to the cathode plate adaptive positioning and automatic lifting device based on a visual algorithm in any one of the above embodiments, comprising:

[0096] S101: When the background monitoring detects the presence of an abnormal plate, the location of the abnormal plate is transmitted to the controller;

[0097] S102: When the controller receives the position of the abnormal plate transmitted from the background, the controller uses the position of the abnormal plate as the target position;

[0098] S103: The controller controls the front travel motor and the rear travel motor to operate according to the target position to drive the plate gripper to move;

[0099] S104: When the current travel motor and the rear travel motor stop running, the controller obtains a real-time video stream from the industrial camera. The controller stores label data corresponding to the abnormal plate and is equipped with a trained YOLOV5 model. The controller determines whether the movement is accurate based on the real-time video stream, the trained YOLOV5 model, and the label data corresponding to the abnormal plate.

[0100] S1041: If the movement is determined to be accurate, the controller controls the lifting motor to drive the plate gripper to move in a direction perpendicular to the ground, and controls the plate gripper to grab the abnormal plate;

[0101] S1042: If the movement is determined to be inaccurate, the controller calculates the error distance between the current position and the position of the abnormal plate based on the distance difference between the label boundary box data and the label data corresponding to the abnormal plate and the focal length of the industrial camera, corrects the target position based on the position of the abnormal plate and the error distance, and executes steps S103 to S104.

[0102] It should be noted that a sensor may be installed in the cathode plate slot, and the sensor is wirelessly connected to the background. The sensor may be a parameter for detecting current or voltage, and the sensor may be selected according to actual conditions. This embodiment does not impose any specific restrictions on this. In step S101, the background detection of the presence of an abnormal plate may specifically be as follows: the sensor transmits the detection signal to the background in real time through the 4G network mode, and the background automatically determines or manually reviews whether the detection signal is abnormal. If status data that are all critical values ​​appear, an alarm is issued and the manual review process is entered. When the cathode plate is manually determined to be in normal condition, monitoring is continued. Conversely, when the current cathode plate is manually determined to be abnormal, the 4G information transmission channel is activated to transmit the location of the abnormal plate to the controller.

[0103] In step S103, the controller controls the front travel motor and the rear travel motor to operate according to the target position to drive the plate gripper to move, including:

[0104] The controller selects a calculation motor from the front travel motor and the rear travel motor;

[0105] The position loop control output is calculated using the PID algorithm based on the target position and the encoder information of the calculated motor;

[0106] The position loop control output is used as the speed loop input. The speed loop output is calculated using the PID algorithm based on the speed loop input and the encoder information of the calculation motor. The speed loop output is converted into a drive signal and transmitted to the front and rear travel motors in real time.

[0107] The PID algorithm is calculated as follows:

[0108]

[0109] Among them, u(t) is the output, e(t) is the deviation, K p is the proportional adjustment parameter, T i Time parameter of integral regulation, T d It is the time parameter of differential adjustment.

[0110] That is, when using the PID algorithm to calculate the position loop control output, the accumulated position data obtained from the motor encoder information is used to represent the current feedback position. In this case, the deviation e(t) is the target position minus the current feedback position. When using the PID algorithm to calculate the velocity loop output, the accumulated velocity data obtained from the motor encoder information is used to represent the current feedback velocity. In this case, the deviation e(t) is the velocity loop input minus the current feedback velocity.

[0111] In step S104, the controller determines whether the movement is accurate based on the real-time video stream, the trained YOLOV5 model, and the label data corresponding to the abnormal plate, including:

[0112] The controller inputs the real-time video stream into the trained YOLOV5 model. The trained YOLOV5 model outputs label bounding box data. The controller determines whether the label bounding box data is the same as the label data corresponding to the abnormal plate.

[0113] If they are the same, the movement is judged to be correct;

[0114] If they are different, the movement is judged to be inaccurate.

[0115] Specifically, the YOLOV5 model can be a PSO-YOLOV5 model. An appropriate learning rate and number of iterations are calculated, and the training set is iterated according to the calculated number of iterations to obtain a trained YOLOV5 model. Of course, the selection of the YOLOV5 model can be adjusted according to actual needs, and this embodiment does not impose specific restrictions on this. The controller can input the last image of the real-time video stream into the trained YOLOV5 model for detection.

[0116] It is understandable that the dual closed-loop PID control algorithm for motor control, combined with the industrial camera and PSO-YOLOV5 model for positioning, can achieve adaptive positioning and automatic lifting of the cathode plate, speed up the efficiency of lifting the plate, reduce manual participation in positioning, and avoid safety hazards.

[0117] It can be seen from the above embodiments that the cathode plate adaptive positioning and automatic lifting device and method based on visual algorithm provided by the present invention achieves at least the following beneficial effects:

[0118] 1. In the cathode plate adaptive positioning and automatic lifting device and method based on visual algorithm provided by the present invention, the controller is wirelessly connected to the lifting motor, front travel motor, rear travel motor, plate gripper, industrial camera and background respectively. According to the information transmitted by the background, the front travel motor and the rear travel motor can be controlled to drive the plate gripper to move in the front and back directions. The lifting motor can also be controlled to drive the plate gripper to move in the direction perpendicular to the ground, thereby driving the plate gripper to move to the top of the abnormal plate and extract the abnormal plate. This can reduce the difficulty of lifting the plate, improve environmental safety, and speed up the efficiency of lifting the plate.

[0119] 2. In the cathode plate adaptive positioning and automatic lifting device and method based on visual algorithm provided by the present invention, the controller is equipped with a trained YOLOV5 model, which can introduce artificial intelligence technology into cathode plate positioning and lifting, and automatically position the plate gripper to the position of the abnormal plate, thereby helping the plate gripper to grab the abnormal plate, reducing manual participation in positioning, and avoiding safety hazards.

[0120] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A cathode plate adaptive positioning and automatic lifting device based on visual algorithm, characterized in that: include: Main frame, lifting assembly, plate gripper, shooting assembly, walking assembly and controller; The main frame includes a top plate and a rectangular frame located on a side of the top plate close to the ground, the top plate and the rectangular frame are parallel to the ground, the rectangular frame includes a left frame, a rear frame, a right frame and a front frame connected in sequence end to end, the left frame and the right frame are arranged opposite to each other along the left-right direction, and the rear frame and the front frame are arranged opposite to each other along the front-back direction; the main frame also includes two left support columns extending in a direction perpendicular to the ground and two right support columns extending in the direction perpendicular to the ground, one end of the left support column is connected to the top plate, and the other end is connected to the left frame, one end of the right support column is connected to the top plate, and the other end is connected to the right frame, the left and right directions, the front and back directions and the direction perpendicular to the ground are perpendicular to each other; The lifting assembly includes a lifting motor and a bearing seat, the lifting motor is fixed to the side of the top plate away from the ground, and the bearing seat is fixed to the side of the left frame close to the ground or the side of the right frame close to the ground; the lifting assembly also includes a movable plate parallel to the ground, the movable plate is located between the top plate and the rectangular frame, between the two left support columns, and between the two right support columns, and the movable plate includes a threaded hole; the lifting assembly also includes at least two lead screws extending in the direction perpendicular to the ground, the lead screws pass through the top plate, the threaded hole and the rectangular frame, and the lead screws are threadedly connected to the threaded holes passed through by them, at least one end of the lead screws is connected to the lifting motor, and the other end is connected to the bearing seat fixed to the side of the left frame close to the ground, and at least one end of the lead screws is connected to the lifting motor, and the other end is connected to the bearing seat fixed to the side of the right frame close to the ground; The plate gripper is fixed to the side of the movable plate close to the ground, and is located between the left support column and the right support column along the left-right direction; The shooting assembly includes at least one fixed rod, the two ends of at least one fixed rod are respectively connected to the two left support columns, and / or the two ends of at least one fixed rod are respectively connected to the two right support columns, and along the direction perpendicular to the ground, the fixed rod and the movable plate do not overlap; the shooting assembly also includes an industrial camera, which is arranged corresponding to the fixed rod and fixed to the side of the corresponding fixed rod away from the movable plate; The walking assembly includes two front walking motors and two rear walking motors, the two front walking motors are connected to the front frame, the two rear walking motors are connected to the rear frame, the front walking motors are connected to the front walking wheels respectively, and the rear walking motors are connected to the rear walking wheels respectively, along the left and right directions, the rectangular frame is located between the two front walking wheels, along the front and back directions, the two front walking wheels and the two rear walking wheels overlap, and along the direction perpendicular to the ground, the minimum distances from the two front walking wheels to the ground are equal; The controller is connected to the main frame. Along the front-to-back direction, the controller is located on one side of the main frame. Along the direction perpendicular to the ground, the controller is located on the side of the front walking wheel away from the ground. There is a gap between the controller and the front walking wheel. The controller is respectively wirelessly connected to the lifting motor, the front walking motor, the rear walking motor, the pole plate gripper, the industrial camera and the background. The controller is equipped with a trained YOLOV5 model.

2. The cathode plate adaptive positioning and automatic lifting device based on visual algorithm according to claim 1 is characterized in that: The lifting assembly further includes a gearbox and a coupling, wherein the gearbox, the coupling, the lifting motor and the lead screw correspond to each other one by one; One end of the coupling is connected to the corresponding lifting motor, and the other end is connected to the corresponding gearbox. The gearbox is fixed to the side of the top plate away from the ground, and the gearbox is connected to one end of the corresponding lead screw.

3. The cathode plate adaptive positioning and automatic lifting device based on visual algorithm according to claim 1 is characterized in that: The movable plate includes a through hole, a ball nut is fixed in the through hole, and the ball nut includes the threaded hole.

4. The cathode plate adaptive positioning and automatic lifting device based on visual algorithm according to claim 1 is characterized in that: The controller includes a power supply unit, a main control unit and a communication unit; The power supply unit is coupled to the main control unit and the communication unit respectively, and is used to provide power to the main control unit and the communication unit; The main control unit is equipped with a trained YOLOV5 model. The main control unit is coupled to the power supply unit and the communication unit respectively, and is used to receive information transmitted by the communication unit, generate a control signal according to the information transmitted by the communication unit, and transmit the control signal to the communication unit; The communication unit is coupled to the power supply unit, the main control unit, the lifting motor, the front travel motor, the rear travel motor, the plate gripper, the industrial camera and the background, respectively, and is used to realize information interaction between the main control unit and the lifting motor, the front travel motor, the rear travel motor, the plate gripper, the industrial camera and the background, respectively.

5. The cathode plate adaptive positioning and automatic lifting device based on visual algorithm according to claim 4 is characterized in that: The controller further includes: a storage unit; The storage unit is coupled to the power supply unit and the main control unit respectively, and is used to store data for the main control unit to retrieve.

6. A cathode plate adaptive positioning and automatic lifting method based on visual algorithm, characterized in that: The cathode plate adaptive positioning and automatic lifting device based on a visual algorithm applied to any one of claims 1 to 5 comprises: S101: When the background monitoring detects the presence of an abnormal plate, the position of the abnormal plate is transmitted to the controller; S102: When the controller receives the position of the abnormal plate transmitted from the background, the controller uses the position of the abnormal plate as the target position; S103: The controller controls the front travel motor and the rear travel motor to operate according to the target position to drive the plate gripper to move; S104: When the front travel motor and the rear travel motor stop running, the controller obtains the real-time video stream of the industrial camera, the controller stores the label data corresponding to the abnormal plate, and the controller is equipped with a trained YOLOV5 model. The controller determines whether the movement is accurate based on the real-time video stream, the trained YOLOV5 model, and the label data corresponding to the abnormal plate; S1041: If the movement is determined to be accurate, the controller controls the lifting motor to drive the plate gripper to move in a direction perpendicular to the ground, and then controls the plate gripper to grab the abnormal plate.

7. The method for self-adaptive positioning and automatic lifting of cathode plates based on visual algorithms according to claim 6, characterized in that: The controller determines whether the movement is accurate based on the real-time video stream, the trained YOLOV5 model, and the label data corresponding to the abnormal plate, including: The controller inputs the real-time video stream into the trained YOLOV5 model, the trained YOLOV5 model outputs label bounding box data, and the controller determines whether the label bounding box data is the same as the label data corresponding to the abnormal plate; If they are the same, the movement is judged to be correct; If they are different, the movement is judged to be inaccurate.

8. The cathode plate adaptive positioning and automatic lifting method based on visual algorithm according to claim 6 is characterized in that: The controller determines whether the movement is accurate based on the real-time video stream, the trained YOLOV5 model and the label data corresponding to the abnormal plate, and further includes: S1042: If the movement is determined to be inaccurate, the controller calculates the error distance between the current position and the position of the abnormal plate based on the distance difference between the label boundary box data and the label data corresponding to the abnormal plate and the focal length of the industrial camera, corrects the target position based on the position of the abnormal plate and the error distance, and executes steps S103 to S104.

9. The method for self-adaptive positioning and automatic lifting of cathode plates based on visual algorithms according to claim 6, characterized in that: The controller controls the front travel motor and the rear travel motor to operate according to the target position to drive the plate gripper to move, including: The controller selects a calculation motor from the front travel motor and the rear travel motor; Calculating the position loop control output using a PID algorithm according to the target position and the encoder information of the calculation motor; The position loop control output is used as the speed loop input, and the speed loop output is calculated using a PID algorithm based on the speed loop input and the encoder information of the calculation motor. The speed loop output is converted into a drive signal and transmitted to the front travel motor and the rear travel motor in real time.

10. The cathode plate adaptive positioning and automatic lifting method based on visual algorithm according to claim 9, characterized in that: The PID algorithm is calculated as follows: Among them, u(t) is the output, e(t) is the deviation, K p is the proportional adjustment parameter, T i Time parameter of integral regulation, T d It is the time parameter of differential adjustment.

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